Yanbin Gao

Oct 5, 2024 | mdpi.com | Lin Zhang |Lianwu Guan |Jianhui Zeng |Yanbin Gao

1. IntroductionThe utilization of Autonomous Underwater Vehicles (AUVs) equipped with Side-Scan Sonar (SSS) stands as a pivotal technique for seabed scanning [1]. AUVs typically utilize a navigation system that integrates data from the Strapdown Inertial Navigation System (SINS) and the Doppler Velocity Log (DVL) [2].

Jul 10, 2024 | mdpi.com | Xu Xu |Lianwu Guan |Yanbin Gao |Yufei Chen

1. IntroductionIn recent years, the domain of simultaneous localization and mapping (SLAM) [1] has been an integral part of autonomous navigation, especially in environments where the reception of global navigation satellite system (GNSS) signals is unreliable or absent and where dynamic environmental conditions are the norm. SLAM aims to determine a robot’s pose while simultaneously generating a map of its environment using onboard sensors.

Feb 10, 2024 | mdpi.com | Lin Zhang |Yanbin Gao |Lianwu Guan

1. IntroductionSeabed mapping is crucial for the high-speed and safe development of the ocean. Currently, the side-scan sonar (SSS) carried by autonomous underwater vehicles (AUVs) is widely used for seafloor mapping.