Zusammenfassung
Dieses Kapitel behandelt die visuelle Navigation von autonomen Unterwasserfahrzeugen (AUVs) mit und ohne gegebene Karte, wobei Letzteres als Simultane Lokalisierung und Kartierung (SLAM) bezeichnet wird. Wir fassen die Herausforderungen und Möglichkeiten in Unterwasserumgebungen zusammen, die die visuelle Navigation von der Landnavigation unterscheiden, und geben auch einen kurzen Überblick über den aktuellen Stand der Technik in diesem Bereich. Dann argumentieren wir als Positionspapier, warum viele dieser Herausforderungen durch eine angemessene Modellierung von Unsicherheiten in der SLAM-Darstellung bewältigt werden könnten. Dies würde insbesondere dem SLAM-Algorithmus ermöglichen, die Mehrdeutigkeit zwischen „Ich sehe das gleiche Merkmal wieder“, „Ich sehe ein anderes, aber ähnlich aussehendes Merkmal“ und „Die Umgebung hat sich verändert und das Merkmal hat sich bewegt“ gründlich zu behandeln.
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Köser, K., Frese, U. (2023). Herausforderungen bei der Unterwasser-Visuellen Navigation und SLAM. In: Kirchner, F., Straube, S., Kühn, D., Hoyer, N. (eds) KI-Technologie für Unterwasserroboter. Springer Vieweg, Cham. https://doi.org/10.1007/978-3-031-42369-7_11
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