Yiyu Cai

Low-cost single-beam SONAR localization in AUVs: Systematic experiments with acoustic and optical perception

This work presents a low-cost acoustic sensing framework for underwater robot (UWR) localization and perception, using single-beam sonars (SBS) and an external forward-looking sonar (FLS) for confined environments in place of costlier Doppler velocity logs (DVL) and onboard imagi...