Schlumberger Technology Corporation

Massachusetts Institute of Technology

Timothy Paul Osedach

Jinkun Wang

Tixiao Shan

Embodiments of the present disclosure are directed towards a system and method for performing an inspection of an underwater environment. Embodiments may include providing an autonomous underwater vehicle ('AUV') and performing an inspection of an underwater environment using the AUV. Embodiments may further include acquiring real-time sensor data during the inspection of the underwater environment and applying an active simultaneous localization and mapping (“SLAM”) algorithm during the inspection, wherein applying includes estimating one or more virtual landmarks based upon, at least in part, at least one past measurement and a current estimate of AUV activity.

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Medford, MA, United States of America

Timothy Paul Osedach