水下SLAM技术:挑战、进展与未来方向
Underwater SLAM Technology:Challenges,Advances,and Future Directions
王力锋 1丛大纲 2封志文1
作者信息
- 1. 中国船舶及海洋工程设计研究院,上海 200011
- 2. 黑龙江职业学院,黑龙江 哈尔滨 150080
- 折叠
摘要
水下同步定位与地图构建(SLAM)技术是水下机器人探索未知区域的重要手段,在复杂海洋环境中广泛应用.水下 SLAM 主要分为 3 种主流技术:前视声呐 SLAM、水下光学 SLAM 及基于测深信息的SLAM.首先,对这些技术在海底地形测绘和深海资源勘探中的应用进行了总结,不同的技术显示出不同的适用性和准确性,其中多波束声呐技术因其高分辨率和大范围覆盖能力,在大规模海底地图构建中展现了优越性.然后,总结了人工智能技术等关键技术在处理复杂海底数据中的应用,例如通过神经网络优化的数据处理提高了地图构建的效率和精度.最后,对未来的 SLAM 技术进行了展望,未来通过算法优化和硬件发展,进一步提升数据处理速度和降低能耗.
Abstract
Underwater Simultaneous Localization and Mapping(SLAM)is a crucial means for underwater robots to explore unknown areas,and is widely applied in complex marine environments.Underwater SLAM is primarily divided into three mainstream technologies:forward-looking sonar SLAM,underwater optical SLAM,and bathymetric SLAM.Firstly,a summary of these technologies in the application of seabed topography surveying and deep-sea resource exploration is provided.Different technologies show different applicability and accuracies,among which multibeam sonar technology demonstrats superiority in large-scale seabed mapping due to its high resolution and extensive coverage capabilities.Additionally,the application of key technologies such as artificial intelligence in processing complex underwater data is summarized,for instance,enhanced map construction efficiency and precision through neural network-optimized data processing.Lastly,the future of SLAM technology is envisioned.In the future,algorithm optimization and hardware development will further improve data processing speed and reduce energy consumption.
关键词
水下同步定位与地图构建/多波束声呐/机器人导航/传感器融合/海底地形测绘Key words
underwater SLAM/multibeam sonar/robot navigation/sensor fusion/seabed mapping引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据