Chapter 25 — Underwater Robots

Preliminary results of sonar-based SLAM using landmarks

This video records preliminary experimental results of a sonar-based SLAM algorithm developed by KRISO (Korea Research Institute of Ships and Ocean Engineering). A position obtained by the proposed probability-based landmark-recognition method and landmarks especially designed for sonar is used to correct the position estimated by IMU/DVL navigation using EKF (extended Kalman filter).
Hyun-Taek Choi