DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar EquippedUnderwater Robot Teams with Object Graph Matching

Yewei Huang, John McConnell, Xi Lin +1

We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by intro…