1. Xavier Lurton. 2003. An introduction to underwater acoustics: principles and applications (2nd ed ed.). Springer, Chichester.
2. Sonar Visual Inertial SLAM of Underwater Structures
3. Underwater robot sensing technology: A survey
4. Degeneracy-Aware Imaging Sonar Simultaneous Localization and Mapping
5. Elizabeth Vargas, Raluca Scona, Jonatan Scharff Willners, Tomasz Luczynski, Yu Cao, Sen Wang, and Yvan R. Petillot. 2021. Robust Underwater Visual SLAM Fusing Acoustic Sensing. In 2021 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi'an, China, 2140–2146