Review of underwater SLAM techniques

Franco Hidalgo, Thomas Braunl

Resultado de la investigación: Contribución a una conferenciaArtículo de conferencia

25 Citas (Scopus)

Resumen

© 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.
Idioma originalInglés estadounidense
Páginas306-311
Número de páginas6
DOI
EstadoPublicada - 1 ene 2015
Publicado de forma externa
EventoICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications -
Duración: 1 ene 2015 → …

Conferencia

ConferenciaICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
Período1/01/15 → …

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