underwaterSLAM_2D_lowCost

A low cost Underwater SLAM system, which operates with the help of a DVL, an IMU, and a mechanical rotating Sonar. It works with the help of the Fourier SOFT 2D(FS2D) registration, which can be looked up here:

In general, this package provides an experimental approach, which still has much room for improvement. See this as a start for further research/Development.

You can test different settings with the help of slamSettings.yaml. Start SLAM + EKF + RViz first,(with exampleSlamRun.py), then start the ROS2 Bag.

Packages necessary:

• GTSAM https://github.com/borglab/gtsam.git git checkout 4.2a7 We used -DGTSAM_USE_SYSTEM_EIGEN=ON in the compiling setting
• OpenCV 4.7 https://github.com/opencv/opencv.git
• FFTW3 sudo apt install libfftw3-dev
• message definitions for the SLAM usage https://github.com/constructor-robotics/datasetMessageDefinitions.git
• CGAL sudo apt install libcgal-dev All the other Libraries are either standard(Eigen, ROS2, OpenGT etc.), or inside this package.(FMS registration(uses library soft20, Peak detection(have a look at find-peaks)) An Example Bag in data, where the SLAM can be performed on is included in this package. You have to unzip the file. Look in CMakeLists.txt for other libraries if something is missing.

Citation

If you find this code useful for your work, please consider citing:

@inproceedings{hansen2024an,
  title={An Open-Source Solution for Fast and Accurate Underwater Mapping with a Low-Cost Mechanical Scanning Sonar},
  author={Hansen, Tim and Birk, Andreas},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2024},
  publisher={IEEE}
}