A Survey of Underwater Acoustic SLAM System

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	A Survey of Underwater Acoustic SLAM System
	Liu J(刘健)2,3 ; Song SM(宋三明)2,3 ; Jiang M(蒋敏)1,2,3 ; Jin WM(金文明)2,3 ; Feng XS(封锡盛)2,3 ; Li YP(李一平)2,3
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Data association Underwater SLAM Underwater vehicle
页码	159-170
英文摘要	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.
产权排序	1
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27531-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25491]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Song SM(宋三明)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Liu J,Song SM,Jiang M,et al. A Survey of Underwater Acoustic SLAM System[C]. 见:. Shenyang, China. August 8-11, 2019.