Direct Forward-Looking Sonar Odometry: A Two-Stage Odometry for Underwater Robot Localization

Direct Forward-Looking Sonar Odometry: A Two-Stage Odometry for Underwater Robot Localization

Underwater robots require fast and accurate localization results during challenging near-bottom operations. However, commonly used methods such as acoustic baseline localization, dead reckoning, and sensor fusion have limited accuracy. The use of forward-looking sonar (FLS) images to observe the sea...

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Bibliographic Details
Main Authors: Wenhao Xu, Jianmin Yang, Jinghang Mao, Haining Lu, Changyu Lu, Xinran Liu
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Remote Sensing
Subjects:
underwater robots
localization
sonar odometry
forward-looking sonar
Online Access:https://www.mdpi.com/2072-4292/17/13/2166
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