Data fusion problem

[IntronRewrite]

"I'm working on underwater SLAM and currently trying to fuse sonar and depth data. I'd really appreciate any reference implementations or shared code."

[lynlight]

"I'm working on underwater SLAM and currently trying to fuse sonar and depth data. I'd really appreciate any reference implementations or shared code."I am a postgraduate student from Shandong University of Science and Technology. I’m currently researching underwater SLAM and would like to communicate with you if possible.