Scharff Willners Jonatan

InsSo3D: Inertial Navigation System and 3D Sonar SLAM for Turbid Environment Inspection

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images containing range and azimuth information but lacks elevation info…