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Multibeam 3D Underwater SLAM with Probabilistic Registration.

Albert Palomer1, Pere Ridao2, David Ribas3

  • 1Vicorob Research Institute, Universitat de Girona, c/Pic de Peguera 13-Parc Científic i Tecnològic de la UdG-CIRS Building, Girona l17003, Spain. apalomer@eia.udg.edu.

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Summary

This study presents a novel underwater 3D Simultaneous Localization and Mapping (SLAM) method using multibeam echosounders for consistent seafloor mapping. The approach enhances point cloud registration accuracy and efficiency for improved underwater navigation and surveying.

Keywords:
3DAUVSLAMbathymetrymultibeam

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Area of Science:

  • Robotics
  • Geophysics
  • Oceanography

Background:

  • Accurate underwater 3D mapping is crucial for various marine applications.
  • Existing Simultaneous Localization and Mapping (SLAM) methods face challenges in underwater environments due to sensor limitations and environmental factors.

Purpose of the Study:

  • To develop and evaluate a pose-based underwater 3D SLAM algorithm for high-consistency seafloor map generation.
  • To improve the accuracy and efficiency of point cloud registration in underwater mapping.

Main Methods:

  • The algorithm integrates multibeam echosounder data with dead reckoning for point cloud generation.
  • A probabilistic Iterative Closest Point (ICP) algorithm with two-step registration (point-to-point and point-to-plane) is employed.
  • Point cloud sub-sampling and a heuristic method reduce computational complexity and prevent local minima.

Main Results:

  • The SLAM framework successfully generated high-consistency underwater maps from real-world datasets.
  • The two-step ICP registration effectively handled uncertainties and improved map accuracy.
  • The heuristic optimization significantly reduced the computational complexity of the ICP algorithm.

Conclusions:

  • The proposed pose-based underwater 3D SLAM system offers a robust solution for accurate seafloor mapping.
  • The method demonstrates effectiveness in both 2.5D bathymetric and full 3D underwater survey scenarios.
  • This work contributes to advancements in autonomous underwater vehicle navigation and marine geophysics.