Robust bathymetric SLAM algorithm considering invalid loop closures

Teng Ma; Ye Li; Yuxin Zhao; Qiang Zhang; Yanqing Jiang; Cong Zheng; Tongwei Zhang

doi:10.1016/j.apor.2020.102298

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Robust bathymetric SLAM algorithm considering invalid loop closures

Teng Ma Ye Li Yuxin Zhao Qiang Zhang Yanqing Jiang Cong Zheng Tongwei Zhang

Year: 2020 Journal: Applied Ocean Research Vol: 102 Pages: 102298-102298 Publisher: Elsevier BV

DOI: 10.1016/j.apor.2020.102298

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Keywords:

Robustness (evolution) Bathymetry Residual Algorithm Computer science A priori and a posteriori Control theory (sociology) Underwater Probabilistic logic Simultaneous localization and mapping Artificial intelligence Mobile robot Robot Geology

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Underwater Vehicles and Communication Systems

Physical Sciences → Engineering → Ocean Engineering

Underwater Acoustics Research

Physical Sciences → Earth and Planetary Sciences → Oceanography

Target Tracking and Data Fusion in Sensor Networks

Physical Sciences → Computer Science → Artificial Intelligence

Robust bathymetric SLAM algorithm considering invalid loop closures

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