SLAM for AUVs in underwater simulator

asked 2019-02-22 03:16:51 -0600

murdock gravatar image

updated 2019-02-22 03:20:32 -0600

Hello,

I would like to make ORB- or LSD-SLAM (or any other) technique work with one of the underwater simulators for AUVs. I feel quite lost since I dont know where to even begin. Can anyone give me some hints on how to try to merge either of the SLAM techniques with the one of the underwater simulators (UUV simulator, UWSim ..)?

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The university of Girona has the Sparus II which seems to use underwater SLAM with UWSim and ROS: https://cirs.udg.edu/auvs-technology/...

I can't personally help you since I'm not knowledgeable on the subject, but I hope you can find something interesting on their webpage.

SleepyTurtle gravatar imageSleepyTurtle ( 2019-02-22 04:32:52 -0600 )edit

Yes, I have installed UWSim and have been trying to make it work, but to no avail. I really enjoyed how you can swap different SLAM techniques for 2D robots/cars, but there is no such thing for AUVs.

murdock gravatar imagemurdock ( 2019-02-22 05:04:06 -0600 )edit