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A Survey of Underwater Acoustic SLAM System

  • Min Jiang
  • Sanming SongEmail author
  • Yiping Li
  • Wenming Jin
  • Jian Liu
  • Xisheng Feng
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)

Abstract

Due 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.

Keywords

Data association Underwater SLAM Underwater vehicle 

Notes

Acknowledgements

The work is supported by the Strategic Priority Program of the Chinese Academy of Sciences (No. XDC03060105, No. XDA13030203), the State Key Laboratory of Robotics of China (No. 2017-Z010), the National Key Research and Development Program of China (No. 2016YFC0300801, No. 2016YFC0300604, No. 2016YFC0301601), the project of “R&D Center for Underwater Construction Robotics”, funded by the Ministry of Ocean and Fisheries (MOF) and Korea Institute of Marine Science & Technology Promotion (KIMST), Korea (No. PJT200539), the Public science and technology research funds projects of ocean (No. 201505017).

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Min Jiang
    • 1
    • 2
    • 3
  • Sanming Song
    • 1
    • 2
    Email author
  • Yiping Li
    • 1
    • 2
  • Wenming Jin
    • 1
    • 2
  • Jian Liu
    • 1
    • 2
  • Xisheng Feng
    • 1
    • 2
  1. 1.State Key Laboratory of RoboticsShenyang Institute of Automation, Chinese Academy of SciencesShenyangChina
  2. 2.Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyangChina
  3. 3.University of Chinese Academy of SciencesBeijingChina

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