Multibeam 3D Underwater SLAM with Probabilistic Registration

Multibeam 3D Underwater SLAM with Probabilistic Registration

This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., poi...

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Bibliographic Details
Main Authors: Albert Palomer, Pere Ridao, David Ribas
Format: Article
Language:English
Published: MDPI AG 2016-04-01
Series:Sensors
Subjects:
AUV
multibeam
SLAM
3D
bathymetry
Online Access:http://www.mdpi.com/1424-8220/16/4/560

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