Pose-Graph SLAM for Underwater Navigation

Stephen M Chaves,Enric Galceran,Paul Ozog,Jeffrey M Walls,Ryan M Eustice

Sensing and Control for Autonomous Vehicles（2017）

引用 5|浏览19

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摘要

This chapter reviews the concept of pose-graph simultaneous localization and mapping (SLAM) for underwater navigation . We show that pose-graph SLAM is a generalized framework that can be applied to many diverse underwater navigation problems in marine robotics . We highlight three specific examples as applied in the areas of autonomous ship hull inspection and multi-vehicle cooperative navigation .

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