Digital Commons Network^™

Robust Underwater State Estimation And Mapping, Bharat Joshi

Theses and Dissertations

The ocean covers two-thirds of Earth, which is relatively unexplored compared to the landmass. Mapping underwater structures is essential for both archaeological and conservation purposes. This dissertation focuses on employing a robot team to map underwater structures using vision-based simultaneous localization and mapping (SLAM). The overarching goal of this research is to create a team of autonomous robots to map large underwater structures in a coordinated fashion. This requires maintaining an accurate robust pose estimate of oneself and knowing the relative pose of the other robots in the team. However, the GPS-denied and communication-constrained underwater environment, along with low visibility, …