Review of underwater SLAM techniques

F. Hidalgo, Thomas Braunl

    Research output: Chapter in Book/Conference paperConference paperpeer-review

    70 Citations (Scopus)

    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 languageEnglish
    Title of host publicationProceedings of the 6th International Conference on Automation, Robotics and Applications
    Place of PublicationDanvers, MA, USA
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages306-311
    VolumeI
    ISBN (Print)9781479964666
    DOIs
    Publication statusPublished - 2015
    EventReview of underwater SLAM techniques - Queenstown, New Zealand
    Duration: 1 Jan 2015 → …

    Conference

    ConferenceReview of underwater SLAM techniques
    Period1/01/15 → …

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