Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation

<table>Velocity of the robot in <svg height="14.6" id="M97" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 14.2125 14.6" width="14.2125" xmlns="http://www.w3.org/2000/svg">
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<tspan style="font-size: 12.50px; " x="0" y="0">𝐙</tspan>
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<tspan style="font-size: 8.75px; " x="0" y="0">𝐥</tspan>
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Journal of Robotics

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Figure 6

Figure 6: Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation 