A Belief Propagation based algorithm for autonomous mapping of underwater targets

Mapping underwater targets can be a relevant task for various fields, including mine countermeasures (MCM) operations. However, due to the difficulties posed by unstructured open underwater environments, mapping underwater targets can become particularly challenging. This article presents a novel and scalable approach for underwater mapping of targets based on the Belief Propagation (BP) algorithm. The theoretical framework of the BP based approach is described and an assessment of its performance is provided in a simulated MCM mission.