SOL-SLAM: Inverse Compositional Gauss-Newton Direct Registration for Fast Sonar-Only Local SLAM

arXiv:2609.18893 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Comments: 8 pages, 5 figures, preprint

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Accuracy — 12× in this paper · explained in 1 episode
Inverse Compositional — 12× in this paper
Alignment — 10× in this paper · explained in 1 episode
Forward-Looking Sonar — 10× in this paper
Feature Extraction — 5× in this paper · explained in 2 episodes
Benchmark — 4× in this paper · explained in 2 episodes
Forward Compositional — 4× in this paper
Computational overhead — 3× in this paper · explained in 2 episodes
Consistency — 3× in this paper · explained in 3 episodes
Inertial Measurement Unit — 3× in this paper
Robustness — 3× in this paper · explained in 5 episodes
Adam — 2× in this paper · explained in 2 episodes
Doppler Velocity Log — 2× in this paper
Alignment Methods — 1× in this paper · explained in 1 episode
Autonomous Underwater Vehicle — 1× in this paper
Benchmarking — 1× in this paper · explained in 3 episodes
Core — 1× in this paper · explained in 2 episodes
Exponential Moving Average — 1× in this paper
Exponential Moving Average (EMA) — 1× in this paper · explained in 2 episodes
Gaussian Splatting — 1× in this paper · explained in 4 episodes
Global Positioning System — 1× in this paper
IEEE International Conference on Robotics and Automation — 1× in this paper
Objective Function — 1× in this paper · explained in 2 episodes
Optical Flow — 1× in this paper · explained in 2 episodes
Point Clouds — 1× in this paper · explained in 2 episodes
Regularization — 1× in this paper · explained in 3 episodes
Simultaneous Localization and Mapping — 1× in this paper
Sparsity — 1× in this paper · explained in 4 episodes
Trace — 1× in this paper · explained in 2 episodes

Terminology

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