SLAM for AUVs in underwater simulator

asked 2019-02-22 03:16:51 -0500

murdock gravatar image

updated 2019-02-22 03:20:32 -0500


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:

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 image SleepyTurtle  ( 2019-02-22 04:32:52 -0500 )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 image murdock  ( 2019-02-22 05:04:06 -0500 )edit


I am new in ROS and UWSim and I want to find out if you finally connect the UWSim with ORB-SLAM? If you do it can you help me?

maria_m gravatar image maria_m  ( 2021-03-10 09:53:05 -0500 )edit

@maria_m please don't post answers that are not actually answers. This is a Q&A site not a discussion forum. I've moved your answer to be a question comment. For more, please see the Support guidelines:

jarvisschultz gravatar image jarvisschultz  ( 2021-03-10 09:55:07 -0500 )edit