Efficient Bathymetric SLAM With Invalid Loop Closure Identification

Teng Ma,Ye Li,Yuxin Zhao,Yanqing Jiang,Qianyi Zhang,Antonio M. Pascoal

IEEE/ASME Transactions on Mechatronics（2021）

引用 7|浏览17

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摘要

Bathymetric simultaneous localization and mapping (SLAM) holds high potential for accurate navigation in long endurance autonomous underwater vehicle (AUV) missions. Due to nearly flat seabed topography, the occurrence of invalid loop closures is unavoidable in bathymetric SLAM. Thus, invalid loop closure identification is a crucial component of bathymetric SLAM, a procedure that normally requires...

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关键词

Simultaneous localization and mapping,Navigation,Sonar,Sonar navigation,Sonar measurements,Trajectory,Surfaces

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