Bathymetric Particle Filter SLAM Based on Mean Trajectory Map Representation

Abstract

To obtain independent navigation results for autonomous underwater vehicles (AUVs) and construct high-resolution consistent seabed maps, a particle filter-based bathymetric simultaneous localization and mapping (BSLAM) method with the mean trajectory map representation is proposed. To reduce the computational consumption, particles only keep the current estimated position of the vehicle, while all historical states of the vehicle are stored in the mean trajectory map. Using this set-up, only the weights of the particles which closed to the mean trajectory map are calculated with newly collected bathymetric data. A hierarchical clustering procedure is also discussed to identify invalid loop closures. The performance of the proposed method is validated using both the simulated data and the field data collected from sea trails. The results demonstrate that the proposed method is 50% more accurate and 50% faster than a state-of-the-art particle filter-based BSLAM method, and it has similar accuracy but 30% faster compared with a graph-based BSLAM method.

Keywords

• Autonomous underwater vehicle
• bathymetric simultaneous localization and mapping
• particle filter
• hierarchical clustering