# Underwater multi-sensor fusion localization with visual-inertial-depth using hybrid residuals and efficient loop closing

> Research article (Measurement, 2024) · cited 17× · AI/ML

**Wikidata**: [openalex:W4400438878](https://www.wikidata.org/wiki/openalex:W4400438878)  
**Source**: https://4ort.xyz/entity/underwater-multi-sensor-fusion-localization-with-visual-inertial-depth-using-hybrid-residuals-and-efficient-loop-closing