Review of underwater SLAM techniques

Franco Hidalgo, Thomas Braunl

Research output: Contribution to conferenceConference Paper

25 Scopus citations

Abstract

© 2015 IEEE. SLAM (Simultaneous Localization and Mapping) for underwater vehicles is a challenging research topic due to the limitations of underwater localization sensors and error accumulation over long-term operations. Furthermore, acoustic sensors for mapping often provide noisy and distorted images or low-resolution ranging, while video images provide highly detailed images but are often limited due to turbidity and lighting. This paper presents a review of the approaches used in state-of-the-art SLAM techniques: Extended Kalman Filter SLAM (EKF-SLAM), FastSLAM, GraphSLAM and its application in underwater environments.
Original languageAmerican English
Pages306-311
Number of pages6
DOIs
StatePublished - 1 Jan 2015
Externally publishedYes
EventICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications -
Duration: 1 Jan 2015 → …

Conference

ConferenceICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
Period1/01/15 → …

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    Hidalgo, F., & Braunl, T. (2015). Review of underwater SLAM techniques. 306-311. Paper presented at ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications, . https://doi.org/10.1109/ICARA.2015.7081165