Graph Matching for Underwater Simultaneous Localization and Mapping Using Multibeam Sonar Imaging

This paper addresses the challenges of underwater Simultaneous Localization and Mapping (SLAM) using multibeam sonar imaging. The widely used Iterative Closest Point (ICP) often falls into local optima due to non-convexity and the lack of features for correct registration. To overcome this, we propo...

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Bibliographic Details
Published in:Journal of Marine Science and Engineering
Main Authors: Lingfei Zhuang, Xiaofeng Chen, Wenjie Lu, Yiting Yan
Format: Article
Language:English
Published: MDPI AG 2024-10-01
Subjects:
underwater SLAM
multibeam sonar
registration
Graph Matching
Online Access:https://www.mdpi.com/2077-1312/12/10/1859

Internet

https://www.mdpi.com/2077-1312/12/10/1859

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