APVI-SLAM: Real-Time Acoustic-Pressure-Visual-Inertial Localization and Photorealistic Mapping System in Complex Underwater Environment

Extreme subsea environments often cause severe feature de-gradation and estimator divergence in underwater visual-inertial SLAM. Although sensors like Doppler Velocity Logs (DVL) and pressure gauges provide auxiliary constraints, robust multi-sensor fusion during intermittent visual failure remains ...