SSS-SLAM: An Object Oriented Matlab Framework for Underwater SLAM using Side Scan Sonar

Authors Daniel Moreno Linares | Antoni Burguera Burguera | Gabriel Oliver Codina
In XXXV Jornadas de Automática, Valencia, 2014.

Side Scan Sonars (SSS) are frequently used by Autonomous Underwater Vehicles (AUV) to observe the sea floor. However, automatically processing the information they provide to perform tasks such as Simultaneous Localization and Mapping (SLAM) or mosaicking is difficult and error prone. Not only the literature is scarce on this subject, but also the number of software tools to help researchers is very reduced. This paper presents SSS-SLAM, a new Object Oriented software framework based on Matlab aimed at facilitating research on underwater SLAM using SSS. The framework includes both libraries and support tools.


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