Underwater Vehicle Navigation Relative to a Fish Cage using Acoustic-based SLAM

PhD-student: Stian Sandøy

Supervisors: Ingrid Schjølberg and Ingrid Utne

Duration: Q3 2016 – Q3 2019


  • Reducing risk and increasing efficiency in fish cage inspections

Main Goal

  • Develop a simultaneous localization and mapping (SLAM) approach for navigation of underwater vehicles relative to a fish cage


  • Developed a particle filter SLAM design using sonar measurements and occupancy grid mapping
  • The suggested method was experimentally tested in a pool environment

Status and further work

  • Test the suggested approach using a dataset from a field experiment