An Open-source Bio-inspired Solution to Underwater SLAM★

Abstract

We present a bio-inspired approach to deal with the localization and spatial mapping problem, extending the successful previous RatSLAM approach from 2D ground vehicles to the 3D underwater environments. Our approach, called DolphinSLAM, is a SLAM system based on mammals navigation. Experiments in simulation and real environments were conducted involving long-term navigation tasks with different robots and sensors. Our proposal is open- source, being integrated with the Robot Operating System (ROS).