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A Survey of Underwater Acoustic SLAM System

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11741))

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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.

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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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Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Min Jiang, Sanming Song, Yiping Li, Wenming Jin, Jian Liu & Xisheng Feng

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

    Min Jiang, Sanming Song, Yiping Li, Wenming Jin, Jian Liu & Xisheng Feng

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Min Jiang

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  1. Min Jiang
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  2. Sanming Song
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  3. Yiping Li
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  4. Wenming Jin
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  5. Jian Liu
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  6. Xisheng Feng
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Corresponding author

Correspondence to Sanming Song .

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Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Jiang, M., Song, S., Li, Y., Jin, W., Liu, J., Feng, X. (2019). A Survey of Underwater Acoustic SLAM System. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_14

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  • DOI: https://doi.org/10.1007/978-3-030-27532-7_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27531-0

  • Online ISBN: 978-3-030-27532-7

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