Author

Derek Benham

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Preprint Aug 2026

The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization

Coastal environments contain rich, largely unexploited geometric structure capable of providing globally referenced localization cues. In this work, we present two complementary localization frameworks that exploit shoreline and water-surface geometry for GPS-denied autonomous surface vessel localization. The first fra...

Derek Benham, Joshua G. Mangelson · 0 citations