SIA OpenIR  > 水下机器人研究室
A Survey of Underwater Acoustic SLAM System
Jiang M(蒋敏)1,2,3; Song SM(宋三明)1,2; Li YP(李一平)1,2; Jin WM(金文明)1,2; Liu J(刘健)1,2; Feng XS(封锡盛)1,2
Department水下机器人研究室
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2019
Pages159-170
Indexed ByEI
EI Accession number20193307319729
Contribution Rank1
ISSN0302-9743
ISBN978-3-030-27531-0
KeywordData association Underwater SLAM Underwater vehicle
AbstractDue to the unavailability of GPS signal, it is more urgent to develop the autonomous navigation capability for the underwater vehicles. In this paper, we summarize the development status of underwater SLAM (simultaneous localization and mapping) system. Different from the terrestrial or aerial SLAM that largely depends on the optical sensors, the underwater SLAM system mainly uses the acoustic sensors, i.e., sonars, to watch the environment. With respect to the general SLAM system, which is mainly composed of the front-end local data-association and the back-end global error adjustment, we briefly survey recent progress in sonar image registration and the loop closure detection. Furthermore, some heuristic problems are posed in the conclusion.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25491
Collection水下机器人研究室
Corresponding AuthorSong SM(宋三明)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Jiang M,Song SM,Li YP,et al. A Survey of Underwater Acoustic SLAM System[C]. Berlin:Springer Verlag,2019:159-170.
Files in This Item: Download All
File Name/Size DocType Version Access License
A Survey of Underwat(226KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Jiang M(蒋敏)]'s Articles
[Song SM(宋三明)]'s Articles
[Li YP(李一平)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Jiang M(蒋敏)]'s Articles
[Song SM(宋三明)]'s Articles
[Li YP(李一平)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Jiang M(蒋敏)]'s Articles
[Song SM(宋三明)]'s Articles
[Li YP(李一平)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: A Survey of Underwater Acoustic SLAM System.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.