SLAM Algorithm of Underwater Vehicle Based on Multi-beam Sonar

Yangming Zhang, Zheng Yang, Rongxin Cui, Xiaofei Song, Ye Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

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.

源语言英语
主期刊名Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
编辑Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhiyong Wang, Zhouping Yin, Lianqing Liu
出版商Springer Science and Business Media Deutschland GmbH
274-286
页数13
ISBN(印刷版)9789819964888
DOI
出版状态已出版 - 2023
活动16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, 中国
期限: 5 7月 20237 7月 2023

出版系列

姓名Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
14269 LNAI
ISSN(印刷版)0302-9743
ISSN(电子版)1611-3349

会议

会议16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
国家/地区中国
Hangzhou
时期5/07/237/07/23

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