Underwater simultaneous localization and mapping (SLAM) has significant challenges due to the complexities of underwater environments, marked by limited visibility, variable conditions, and restricted global positioning system (GPS) availability. This study provides a comprehensive analysis of sensor fusion techniques in underwater SLAM, highlighting the amalgamation of proprioceptive and exteroceptive sensors to improve UUV navigational accuracy and system resilience. Essential sensor applications, including inertial measurement units (IMUs), Doppler velocity logs (DVLs), cameras, sonar, and LiDAR (light detection and ranging), are examined for their contributions to navigation and perception. Fusion methodologies, such as Kalman filters, particle filters, and graph-based SLAM, are evaluated for their benefits, limitations, and computational demands. Additionally, innovative technologies like quantum sensors and AI-driven filtering techniques are examined for their potential to enhance SLAM precision and adaptability. Case studies demonstrate practical applications, analyzing the compromises between accuracy, computational requirements, and adaptability to environmental changes. This paper proceeds to emphasize future directions, stressing the need for advanced filtering and machine learning to address sensor drift, noise, and environmental unpredictability, hence improving autonomous underwater navigation through reliable sensor fusion.

Oil spill accidents have seriously harmed the marine environment. Effective oil spill monitoring can provide strong scientific and technological support for emergency response of law enforcement departments. Shipborne radar can be used to monitor oil spills immediately after the accident. In this paper, the original shipborne radar image collected by the teaching-practice ship Yukun of Dalian Maritime University during the oil spill accident of Dalian on 16 July 2010 was taken as the research data, and an oil spill detection method was proposed by using LBP texture feature and K-means algorithm. First, Laplacian operator, Otsu algorithm, and mean filter were used to suppress the co-frequency interference noises and high brightness pixels. Then the gray intensity correction matrix was used to reduce image nonuniformity. Next, using LBP texture feature and K-means clustering algorithm, the effective oil spill regions were extracted. Finally, the adaptive threshold was applied to identify the oil films. This method can automatically detect oil spills in shipborne radar image. It can provide a guarantee for real-time monitoring of oil spill accidents.

Underwater positioning presents a challenging issue, because of the rapid attenuation of electronic magnetic waves, the disturbances and uncertainties in the environment. Conventional methods usually employed acoustic devices to localize Unmanned Underwater Vehicles (UUVs), which suffer from a slow refresh rate, low resolution, and are susceptible to the environmental noise. In addition, the complex terrain can also degrade the accuracy of the acoustic navigation systems. The applications of underwater positioning methods based on visual sensors are prevented by difficulties of acquiring the depth maps due to the sparse features, the changing illumination condition, and the scattering phenomenon. In the paper, a novel visual-based underwater positioning system is proposed based on a Light Detection and Ranging (LiDAR) camera and an inertial measurement unit. The LiDAR camera, benefiting from the laser scanning techniques, could simultaneously generate the associated depth maps. The inertial sensor would offer information about its altitudes. Through the fusion of the data from multiple sensors, the positions of the UUVs can be predicted. After that, the Bundle Adjustment (BA) method is used to recalculate the rotation matrix and the translation vector to improve the accuracy. The experiments are carried out in a tank to illustrate the effects and accuracy of the investigated method, in which the ultra-wideband (UWB) positioning system is used to provide reference trajectories. It is concluded that the developed positioning system is able to estimate the trajectory of UUVs accurately, whilst being stable and robust.

Marine oil spills are one of the major threats to marine ecological safety, and the rapid identification of oil films is of great significance to the emergency response. Marine radar can provide data for marine oil spill detection; however, to date, it has not been commonly reported. Traditional marine radar oil spill research is mostly based on grayscale segmentation, and its accuracy depends entirely on the selection of the threshold. With the development of algorithm technology, marine radar oil spill extraction has gradually come to focus on artificial intelligence, and the study of oil spills based on machine learning has begun to develop. Based on X-band marine radar images collected from the Dalian 716 incident, this study used image texture features, the BP neural network classifier, and threshold segmentation for oil spill extraction. Firstly, the original image was pre-processed, to eliminate co-channel interference noise. Secondly, texture features were extracted and analyzed by the gray-level co-occurrence matrix (GLCM) and principal component analysis (PCA); then, the BP neural work was used to obtain the effective wave region. Finally, threshold segmentation was performed, to extract the marine oil slicks. The constructed BP neural network could achieve 93.75% classification accuracy, with the oil film remaining intact and the segmentation range being small; the extraction results were almost free of false positive targets, and the actual area of the oil film was calculated to be 42,629.12 m². The method proposed in this paper can provide a reference for real-time monitoring of oil spill incidents.

In actual engineering production, bearings typically operate in harsh environments. The fault features of bearing vibration signals are often submerged by background noise, making it difficult to extract the fault signal features and impacting the accuracy of fault diagnosis. To address this problem, this paper proposes a bearing fault diagnosis method based on the Savitzky-Golay Gramian Angular Field (GAF) with fault feature enhancement combined with ResNet. First, the acquired vibration signals are segmented, and the segmented signals are subjected to Butterworth high-pass filtering to obtain the high-frequency components of the signals that contain fault information. Secondly, the extracted high-frequency components are boosted by the S-enhancement algorithm for fault features. The boosted signals are then filtered by Savitzky-Golay to achieve data smoothing aggregation enhancement. Subsequently, the feature-enhanced GAF graphs are obtained using the transformation method. Finally, bearing fault diagnosis is performed using the Glamian Angle field diagram as input to the ResNet18 model. To verify the feasibility of the proposed method, experiments were conducted using Case Western Reserve University (CWRU) bearing fault dataset and bearing fault dataset of laboratory experimental platform. The experimental results showed that the fault diagnosis accuracy were 99.28% and 100%, respectively. The results validated the feasibility of the proposed method. Through comparative experiments with the Symmetric Dot Pattern (SDP) method, the traditional GAF method and the Recurrence Plots (RP) method, the results demonstrate that the proposed method has high diagnostic accuracy, proved the effectiveness of the method.

Underwater simultaneous localization and mapping (SLAM) is essential for effectively navigating and mapping underwater environments; however, traditional SLAM systems have limitations due to restricted vision and the constantly changing conditions of the underwater environment. This study thoroughly examined the underwater SLAM technology, particularly emphasizing the incorporation of deep learning methods to improve performance. We analyzed the advancements made in underwater SLAM algorithms. We explored the principles behind SLAM and deep learning techniques, examining how these methods tackle the specific difficulties encountered in underwater environments. The main contributions of this work are a thorough assessment of the research into the use of deep learning in underwater image processing and perception and a comparison study of standard and deep learning-based SLAM systems. This paper emphasizes specific deep learning techniques, including generative adversarial networks (GANs), convolutional neural networks (CNNs), long short-term memory (LSTM) networks, and other advanced methods to enhance feature extraction, data fusion, scene understanding, etc. This study highlights the potential of deep learning in overcoming the constraints of traditional underwater SLAM methods, providing fresh opportunities for exploration and industrial use.