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SVIn+: An Underwater State Estimation Framework Integrating 3D Sonar, Visual-Inertial, Water Pressure, and DVL

SVIn+ is a multi-sensor state estimation framework for autonomous underwater vehicles (AUVs). Building on the open-source visual-inertial SLAM system SVIn, it integrates water-pressure and DVL measurements into tightly coupled nonlinear optimization and uses a KISS-ICP decoupled front end to generate relative pose factors, incorporating 3D sonar structural information into the factor graph. The authors conducted field deployments in shipwreck and coral reef scenarios, validating drift suppression and global consistency. The paper was accepted to IROS 2026, and the code and datasets have been released on the project website.

Part of the event: SVIn+: A Multimodal Underwater State Estimation Framework

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