Pose-Graph SLAM Using Forward-Looking Sonar

Summary

Jie Li, Michael Kaess, Ryan M. Eustice and Matthew Johnson-Roberson, Pose-Graph SLAM Using Forward-Looking Sonar. IEEE Robotics and Automation Letters, 3(3):2330-2337, 2018.

Abstract

This letter reports on a real-time simultaneous localization and mapping (SLAM) algorithm for an underwater robot using an imaging forward-looking sonar and its application in the area of autonomous underwater ship hull inspection. The proposed algorithm overcomes challenges associated with deliverable underwater acoustic SLAM, including feature and false-positive data association when utilizing sonar imagery. An advanced machine technique is used to provide saliency-aware loop closure proposals. A more reliable association approach using different available constraints is also developed. Our evaluation is presented on the real-world data collected in a ship hull inspection application, which the system's performance and robustness.

Bibtex entry