An Overview of Key SLAM Technologies for Underwater Scenes

Author:

Wang Xiaotian1ORCID,Fan Xinnan2,Shi Pengfei2ORCID,Ni Jianjun2ORCID,Zhou Zhongkai2ORCID

Affiliation:

1. School of Computer and Information, Hohai University, Nanjing 210000, China

2. School of Information Science and Engineering, Hohai University, Changzhou 213002, China

Abstract

Autonomous localization and navigation, as an essential research area in robotics, has a broad scope of applications in various scenarios. To widen the utilization environment and augment domain expertise, simultaneous localization and mapping (SLAM) in underwater environments has recently become a popular topic for researchers. This paper examines the key SLAM technologies for underwater vehicles and provides an in-depth discussion on the research background, existing methods, challenges, application domains, and future trends of underwater SLAM. It is not only a comprehensive literature review on underwater SLAM, but also a systematic introduction to the theoretical framework of underwater SLAM. The aim of this paper is to assist researchers in gaining a better understanding of the system structure and development status of underwater SLAM, and to provide a feasible approach to tackle the underwater SLAM problem.

Funder

National Key R&D Program of China

the Fundamental Research Fund for the Central Universities

Publisher

MDPI AG

Subject

General Earth and Planetary Sciences

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