Markus Solbach

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Master Thesis "6 DOF EKF SLAM in Underwater Environments"

Abstract The increasing number of industrial or scientific applications of Autonomous Underwater Vehicles (AUV) raises the challenging question on how to derive the vehicle’s localization accurate enough for the mission success.
This work details an approach to accurate localization based on EKF (Extended Kalman Filtering) SLAM (Simultanously Localization and Mapping) with pure 3D stereo data, which consists of three major stages.

The thesis and the slides can be downloaded under the following links (english):

The defence at the University of the Balearic Islands can be seen in the following video.

Some evaluation-videos with different separation values (2, 4, 8):

The implementation (Matlab) is published on GitHub:

For further information please contact me: