# Underwater Surveying via Bearing only Cooperative Localization

arXiv: https://arxiv.org/abs/1809.03594 · HTML: https://mlsanity.com/paper/1809.03594/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Sep 2018.

## Built on by (most cited first, 2 of 2)

- [Scalable Aerial GNSS Localization for Marine Robots](https://mlsanity.com/paper/2505.04095/) (2025)
- [Stable Multi-Drone GNSS Tracking System for Marine Robots](https://mlsanity.com/paper/2511.18694/) (2025)

## Abstract (arXiv)

Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The focus is on adapting the technique to handle the challenging visibility conditions underwater. Furthermore, data from inertial, magnetic, and depth sensors are utilized to improve the robustness of the estimation. In addition to robotic applications, the presented technique can be used for cave mapping and for marine archeology surveying, both by human divers. Experimental results from different environments, including a fresh water, low visibility, lake in South Carolina; a cavern in Florida; and coral reefs in Barbados during the day and during the night, validate the robustness and the accuracy of the proposed approach.