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RTISSLAM-3D: A Full 6-DoF SLAM System Based on an In-Air 3D Imaging Sonar

The paper proposes RTISSLAM-3D, a 6-DoF SLAM system for a wheeled robot equipped with an in-air 3D imaging sonar, an IMU, and wheel encoders. The system uses a spherical CFAR detector to reduce sonar images to sparse 3D detections, which are used for 3D acoustic odometry that models the sonar beam shape, for place recognition with polar submap descriptors, and for loop-closure verification via 3D registration, all combined into a 6-DoF pose graph with attitude factors.

Part of the event: Proposal of the full 6-DOF sonar SLAM system RTISSLAM-3D

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