A Precision Loop Closure Detection Technique for AUV Bathymetric SLAM in the Absence of a DVL

This article describes a novel loop closure detection technique for bathymetric simultaneous localization and mapping (SLAM) operations with autonomous underwater vehicles (AUVs) in the absence of a Doppler velocity logger (DVL). The methodology proposed relies on the use of a multibeam echosounder (MBES) and an internal measurement unit (IMU) to perform SLAM, with the added benefit of achieving higher efficiency in the selection of the data associations necessary for loop closure detection when compared with traditional methods of template-based terrain matching estimation (TEM). The technique adopted also includes a method for correcting the navigational error formed while collecting point clouds for loop closure detection. Simulation comparisons and two playback experiments show a substantial increase in loop closure detection accuracy in comparison with current methods. This article highlights the potential of conducting autonomous bathymetric surveys using an MBES as the sole acoustic sensor for SLAM and achieving high-precision underwater navigation for long periods of time.