TY - GEN
T1 - SLAM Algorithm of Underwater Vehicle Based on Multi-beam Sonar
AU - Zhang, Yangming
AU - Yang, Zheng
AU - Cui, Rongxin
AU - Song, Xiaofei
AU - Li, Ye
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - Factor Graph Optimization
KW - Interframe Registration
KW - Multi-beam Forward-looking Sonar
KW - Simultaneous Localization And Mapping
KW - Underwater Robot
UR - http://www.scopus.com/inward/record.url?scp=85175945662&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-6489-5_22
DO - 10.1007/978-981-99-6489-5_22
M3 - 会议稿件
AN - SCOPUS:85175945662
SN - 9789819964888
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 274
EP - 286
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Wang, Zhiyong
A2 - Yin, Zhouping
A2 - Liu, Lianqing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -