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Pose-Graph SLAM for Underwater Navigation

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Sensing and Control for Autonomous Vehicles

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 474))

Abstract

This chapter reviews the concept of pose-graph simultaneous localization and mapping (SLAM) for underwater navigation . We show that pose-graph SLAM is a generalized framework that can be applied to many diverse underwater navigation problems in marine robotics . We highlight three specific examples as applied in the areas of autonomous ship hull inspection and multi-vehicle cooperative navigation .

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Notes

  1. 1.

    More background on visual SLAM can be found in [16, 27].

  2. 2.

    A more detailed description can be found in [35, 36].

  3. 3.

    A more detailed description of GLC can be found in [6].

  4. 4.

    A more detailed description of cooperative localization with factor graph-based algorithms appears in [43, 44].

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Author information

Authors and Affiliations

  1. University of Michigan, 2600 Draper Dr, Ann Arbor, MI, 48105, USA

    Stephen M. Chaves, Paul Ozog, Jeffrey M. Walls & Ryan M. Eustice

  2. ETH Zurich, Leonhardstrasse 21, LEEJ304, 8092, Zürich, Switzerland

    Enric Galceran

Authors
  1. Stephen M. Chaves
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  2. Enric Galceran
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  3. Paul Ozog
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  4. Jeffrey M. Walls
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  5. Ryan M. Eustice
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Corresponding author

Correspondence to Stephen M. Chaves .

Editor information

Editors and Affiliations

  1. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Thor I. Fossen

  2. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Kristin Y. Pettersen

  3. Eindhoven University of Technology (TuE), Eindhoven, The Netherlands

    Henk Nijmeijer

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Chaves, S.M., Galceran, E., Ozog, P., Walls, J.M., Eustice, R.M. (2017). Pose-Graph SLAM for Underwater Navigation. In: Fossen, T., Pettersen, K., Nijmeijer, H. (eds) Sensing and Control for Autonomous Vehicles. Lecture Notes in Control and Information Sciences, vol 474. Springer, Cham. https://doi.org/10.1007/978-3-319-55372-6_7

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  • DOI: https://doi.org/10.1007/978-3-319-55372-6_7

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