An Overview of Key SLAM Technologies for Underwater Scenes

被引：24
作者：
Wang, Xiaotian [1 ]
Fan, Xinnan [2 ]
Shi, Pengfei [2 ]
Ni, Jianjun [2 ]
Zhou, Zhongkai [2 ]
机构：
[1] Hohai Univ, Sch Comp & Informat, Nanjing 210000, Peoples R China
[2] Hohai Univ, Sch Informat Sci & Engn, Changzhou 213002, Peoples R China
来源：
REMOTE SENSING | 2023年 / 15卷 / 10期
基金：
国家重点研发计划;
关键词：
underwater vehicles; SLAM; vision sensors; acoustic sensors; deep learning; DEEP NEURAL-NETWORKS; SIMULTANEOUS LOCALIZATION; VISUAL SLAM; LOOP-CLOSURE; MAPPING SLAM; ODOMETRY; ROBUST; RECOGNITION; NAVIGATION; VERSATILE;
D O I：
10.3390/rs15102496
中图分类号：
X [环境科学、安全科学];
学科分类号：
08 ; 0830 ;
摘要：
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.
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收藏
页数：28
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