Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.008a.svgz" name="3717430.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Rough terrain</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.008b.svgz" name="3717430.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Flat terrain</td></tr></table>

<div>Two types of terrain for testing.</div>

Journal of Sensors

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Figure 8

Figure 8: Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting 