Titlebook: Underwater SLAM for Structured Environments Using an Imaging Sonar; David Ribas,Pere Ridao,José Neira Book 2010 Springer Berlin Heidelberg

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Simultaneous Localization and Mapping,core of the proposed SLAM system. This filter merges the information from various sensors (DVL, compass and pressure sensor) and the observations from the feature extraction algorithm in order to estimate the vehicle’s motion and to build and maintain a feature based map (see Figure 6.1 for a diagra

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Underwater SLAM for Structured Environments Using an Imaging Sonar978-3-642-14040-2Series ISSN 1610-7438 Series E-ISSN 1610-742X

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https://doi.org/10.1007/978-3-642-14040-2Localization; SLAM; Sonar; Underwater robotics; autonom; knowledge; navigation; sensor fusion

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Introduction,and have a high impact not only on the economy, but on the life and evolution of human society as a whole. Exploring this large body of water is a matter of the utmost importance, not only because it represents a vast source of natural resources, but also because its study may help us understand how this complex ecosystem works.