Sonar-based FastSLAM in an Underwater Environment Using Walls as Features

Dariush Forouher, Jan Hartmann, Marek Litza, Erik Maehle


A lot of research has been done in the area of Simultaneous Localization and Mapping (SLAM). It is particularly challenging in underwater environments where many of the self-localization methods used at land no longer work. This paper presents a method to use a rotating scanning sonar as the sole sensor to perform SLAM in harbors or natural waterways. We present a feature extraction process which is capable of extracting walls of arbitrary shape. These extracted wall features are then used to perform SLAM using the well-known FastSLAM algorithm. We show that SLAM is possible given this type of sensor and using our feature extraction process. The algorithm was validated on an open water test site and will be shown to provide localization accuracy generally within the error of the GPS ground truth.

Original languageEnglish
Title of host publication2011 15th International Conference on Advanced Robotics (ICAR)
Number of pages6
Publication date28.12.2011
Article number6088563
ISBN (Print)978-1-4577-1158-9, 978-1-4577-1157-2
ISBN (Electronic) 978-1-4577-1159-6
Publication statusPublished - 28.12.2011
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics - Tallinn, Estonia
Duration: 20.06.201123.06.2011
Conference number: 87815


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