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 language | English |
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Title of host publication | Proceedings of the 6th International Conference on Automation, Robotics and Applications |
Place of Publication | Danvers, MA, USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 306-311 |
Volume | I |
ISBN (Print) | 9781479964666 |
DOIs | |
Publication status | Published - 2015 |
Event | Review of underwater SLAM techniques - Queenstown, New Zealand Duration: 1 Jan 2015 → … |
Conference
Conference | Review of underwater SLAM techniques |
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Period | 1/01/15 → … |