Underwater SLAM system based on image feature point information enhancement

In this paper, we propose an underwater synchronous localization and mapping algorithm based on image information enhancement, which can reduce the problems of image blurring and contrast reduction caused by environmental factors by processing underwater images, and improve the performance of visual odometer in underwater environment. On the basis of image processing, the acoustic sensor with less influence on underwater environmental factors is introduced to help the system to carry out target scale recovery and absolute distance detection, strengthen the tracking and matching of feature points, and improve the accuracy of state estimation.