An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle

Table 1

Summery of SLAM methods.

Algorithm	Drawbacks
EKF-SLAM	(1) Difficulty to solve data association problems; (2) High computational costs; (3) Inconsistency due to errors introduced during linearization
EIF-SLAM	(1) Only applicable for creating feature maps; (2) Requires the existence of features, such as point, line, and face features.
FastSLAM	(1) Calculation and storage problem proportional to the number of particles; (2) Particle degradation and sample dilution