Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

<div><span class="nowrap"><svg height="8.68572pt" id="M120" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 8.6074 8.68572" width="8.6074pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M640 650H413L406 622L438 617C475 611 483 605 463 571C422 503 346 400 296 333C264 403 215 529 199 575C189 604 191 614 228 618L262 622L271 650H30L23 622C90 615 97 609 119 553L212 321C222 295 223 285 218 259L193 127C176 39 167 33 82 28L76 0H350L356 28C266 36 257 40 275 127L303 266C308 290 314 302 328 322C396 418 454 493 498 546C551 610 565 616 631 622L640 650Z"></path></g></svg>-</span>direction gradient fitting in 400 regions.</div>

Journal of Sensors

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Figure 7

Figure 7: Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting 