Exploring the DolphinSLAM's parameters

This paper presents the bio-inspired underwater 3D SLAM algorithm called DolphinSLAM. First, every module of the DolphinSLAM algorithm is explained. Then, the effects of parameter variations regarding the parameters of the DolphinSLAM algorithm are investigated based on the use of the Underwater Simulator (UWSim). The parameters of interest are i) the image feature extractors, ii) the vocabulary size regarding the BoW model, and iii) the equations for experience map correction.