This work investigates the development and application of Simultaneous Localization and Mapping (SLAM) techniques specifically for underwater environments using imaging sonar. The book addresses the unique challenges posed by underwater robotics, such as sensor noise, dynamic environments, and the lack of GPS, focusing on how to build robust 3D maps and accurately localize a robot within them. It details the algorithms and methodologies employed to process imaging sonar data for effective navigation and mapping in structured underwater settings.

This book is recognized as a technical contribution to the field of underwater robotics and computer vision. It is likely to be of interest to researchers and engineers working on autonomous underwater vehicles (AUVs) and sensor fusion. The detailed algorithmic approach and focus on practical implementation suggest it serves as a valuable resource for those developing or improving SLAM systems for marine applications. The work contributes to the ongoing efforts to enhance the autonomy and navigation capabilities of subsea robots.