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Ocean Systems Engineering Volume 15, Number 4, December 2025 , pages 387-406 DOI: https://doi.org/10.12989/ose.2025.15.4.387 |
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Imaging sonar based active viewpoint adjustment for underwater SLAM in structured environments |
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Geonwoo Park, Dongsub Kim, Bonchul Ku, Seungwon Ham,
Sungduk Kim, Jinbeom Kim, Son-Cheol Yu
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| Abstract | ||
| Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV) in various underwater applications, including infrastructure inspection and seabed exploration. However, achieving robust and accurate state estimation in such environments remains a significant hurdle. This is primarily attributable to the inherent scarcity of geometric features in the subsea environment itself and the limited field of view (FoV) of imaging sonar used for feature acquisition. These factors collectively elevate the probability of iterative closest point (ICP) degeneracy, a frequent challenge in most SLAM solutions. To overcome this limitation, this study proposes a method that actively adjusts the imaging sonar | ||
| Key Words | ||
| AUV; ICP degeneracy; scan matching; tensor voting; underwater localization | ||
| Address | ||
| Geonwoo Park: Division of Advanced Nuclear Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang-si, Gyeongbuk 37673, Republic of Korea Dongsub Kim, Bonchul Ku, Seungwon Ham and Son-Cheol Yu: Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang-si, Gyeongbuk 37673, Republic of Korea Sungduk Kim and Jinbeom Kim: Maritime RD Center, LIG Nex1, 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do 13488, Republic of Korea | ||
