  Autonomous underwater vehicles (AUVs) are becoming standard tools for
underwater exploration and seabed mapping in both scientific and industrial
applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive
untethered allows them to reach areas inaccessible to surface vessels and to
collect data more closely to the seafloor, regardless of the water depth.
However, their navigation autonomy remains bounded by the accuracy of their
dead reckoning (DR) estimate of their global position, severely limited in the
absence of a priori maps of the area and GPS signal. Global localization
systems equivalent to the later exists for the underwater domain, such as LBL
or USBL. However they involve expensive external infrastructure and their
reliability decreases with the distance to the AUV, making them unsuitable for
deep sea surveys.
