Simultaneous localisation and mapping on the Great Barrier Reef

This paper presents results of the application of the simultaneous localisation and mapping algorithm to data collected by an unmanned underwater vehicle operating on the Great Barrier Reef in Australia. By fusing information from the vehicle's on-board sonar and vision systems, it is possible to use the highly textured reef to provide estimates of the vehicle motion as well as to generate models of the gross structure of the underlying reefs. Terrain-aided navigation promises to revolutionise the ability of marine systems to track underwater bodies in many applications. This work represents a crucial step in the development of underwater technologies capable of long-term, reliable deployment. Results of the application of this technique to the tracking of the vehicle position are shown.