Purpose–The main purpose of this paper is to investigate two key elements of localization
and mapping of Autonomous Underwater Vehicle (AUV), ie to overview various sensors and …

Simultaneous localization and mapping (SLAM) has the potential to play a fundamental and
significant role in achieving full autonomy for autonomous underwater vehicles (AUV). This …

This paper addresses the map merging problem, which is the most important issue in multi-
robot simultaneous localization and mapping (SLAM) using the Rao–Blackwellized particle …

In this paper, a new algorithm, called cluster matching, is introduced for multi-robot
localization and orientation. This algorithm deals with the case in which each robot has the …

Scan matching algorithms have been extensively used in the last years to perform mobile
robot localization. Although these algorithms require dense and accurate sets of readings …

This work presents a six degrees of freedom probabilistic scan matching method for
registration of 3D underwater sonar scans. Unlike previous works, where local submaps are …

This paper presents a multi-session monocular Simultaneous Localization and Mapping
(SLAM) approach focused on underwater environments. The system is composed of three …

This paper presents a novel approach to localize an underwater mobile robot based on scan
matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan …

This paper compares two well known scan matching algorithms: the MbICP and the pIC. As
a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for …

Scan matching is a popular localization technique based on comparing two sets of range
readings gathered at consecutive robot poses. Scan matching algorithms implicitly assume …