Study on Underwater Simultaneous Localization and Mapping Based on Different Sensors

Abstract

Simultaneous localization and mapping (SLAM) is important for autonomous underwater vehicles (AUVs). An AUV can be equipped with corresponding function sensors to obtain the information of underwater environment and its own position. Affected by many factors of water, many sensors that can be used normally on the ground perform poor in the marine scenario. This paper presents a review of the underwater SLAM implemented by different sensors: monocular camera, stereo camera, single-beam sonar, multi-beam sonar, side-scan sonar and laser.