Abstract
Due to insufficient underwater illumination and serious electromagnetic signal attenuation, the use of cameras, lidars and satellite positioning and navigation systems in the underwater environment is greatly limited. In this paper, an underwater robot simultaneous localization and mapping (SLAM) algorithm based on multi-beam forward looking sonar is proposed. First of all, on the basis of the cell average constant false alarm rate (CA-CFAR) detection algorithm, the feature constraints of the plane line model are added to optimize the sonar data filtering effect; Then provide reliable initial values for point cloud precise registration by performing correlation scanning matching in advance to ensure the accuracy of inter-frame registration; Then, the factor graph is constructed based on the constraint relationship generated by the inter-frame registration to realize the SLAM back-end optimization; Finally, the effectiveness of the algorithm is verified by the pool experiment.
This work was supported by the National Natural Science Foundation of China under Grant U22A2066.
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Zhang, Y., Yang, Z., Cui, R., Song, X., Li, Y. (2023). SLAM Algorithm of Underwater Vehicle Based on Multi-beam Sonar. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_22
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DOI: https://doi.org/10.1007/978-981-99-6489-5_22
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