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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
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
Indexed ByEI ; CPCI(ISTP)
EI Accession number20193307319729
WOS IDWOS:000569253400014
Contribution Rank1
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.
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Document Type会议论文
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.
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