数字海洋与水下攻防2024，Vol.7Issue(4)：前插1,356-364,10.DOI:10.19838/j.issn.2096-5753.2024.04.001
水下SLAM技术:挑战、进展与未来方向
Underwater SLAM Technology:Challenges,Advances,and Future Directions
王力锋 1丛大纲 2封志文1
作者信息
- 1. 中国船舶及海洋工程设计研究院,上海 200011
- 2. 黑龙江职业学院,黑龙江 哈尔滨 150080
- 折叠
摘要
Abstract
Underwater Simultaneous Localization and Mapping(SLAM)is a crucial means for underwater robots to explore unknown areas,and is widely applied in complex marine environments.Underwater SLAM is primarily divided into three mainstream technologies:forward-looking sonar SLAM,underwater optical SLAM,and bathymetric SLAM.Firstly,a summary of these technologies in the application of seabed topography surveying and deep-sea resource exploration is provided.Different technologies show different applicability and accuracies,among which multibeam sonar technology demonstrats superiority in large-scale seabed mapping due to its high resolution and extensive coverage capabilities.Additionally,the application of key technologies such as artificial intelligence in processing complex underwater data is summarized,for instance,enhanced map construction efficiency and precision through neural network-optimized data processing.Lastly,the future of SLAM technology is envisioned.In the future,algorithm optimization and hardware development will further improve data processing speed and reduce energy consumption.关键词
水下同步定位与地图构建/多波束声呐/机器人导航/传感器融合/海底地形测绘Key words
underwater SLAM/multibeam sonar/robot navigation/sensor fusion/seabed mapping分类
信息技术与安全科学引用本文复制引用
王力锋,丛大纲,封志文..水下SLAM技术:挑战、进展与未来方向[J].数字海洋与水下攻防,2024,7(4):前插1,356-364,10.
