Probabilistic Localization and Mapping of Flexible Underwater Structures using Octomap

This paper addresses localization and mapping of flexible ocean structures. The methodology is based on a network of low cost acoustic transmitters on the structure and receivers stationed in the vicinity of the structure. The position of the receivers is assumed to be known. The position of each transmitter is estimated and represents a point position on the structure. All of the point positions are interpolated and applied in the mapping software Octomap, to build a digital map representation of the whole flexible structure. This map can serve as an environment model for underwater robots navigating close to such structures. An example is underwater robots operating close to or within a flexible ocean structure such as a fish cage.