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Navigation and mapping in relatively featureless underwater and under-ice environments is a difficult challenge. Using common sensors already onboard many unmanned underwater vehicles to aid in this process provides a self-contained and cost-effective solution. Evaluation of such visual navigation and mapping methods under development requires multiple UUVs to gather the required sonar and video data...
Localization and navigation in an under-ice underwater environment presents a difficult challenge. GPS, the standard means of localization for aerial and terrestrial vehicles, is not available underwater. Common underwater navigation solutions such as compass sensors and acoustic triangulation are not available under the ice or require overwhelming support infrastructure. Decreased localization error...
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