Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM
Jiarui Tan,Ignacio Torroba,Yiping Xie,John Folkesson,Jiarui Tan,Ignacio Torroba,Yiping Xie,John Folkesson
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped with multibeam echosounders (MBES), data association is particularly challenging due to the scarcity of identifiable landmarks in the seabed, the large drift in...
