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To widen the utilization environment and augment domain expertise, simultaneous localization and mapping (SLAM) in underwater environments has recently become a popular topic for researchers. This paper examines the key SLAM technologies for underwater vehicles and provides an in-depth discussion on the research background, existing methods, challenges, application domains, and future trends of underwater SLAM. It is not only a comprehensive literature review on underwater SLAM, but also a systematic introduction to the theoretical framework of underwater SLAM. The aim of this paper is to assist researchers in gaining a better understanding of the system structure and development status of underwater SLAM, and to provide a feasible approach to tackle the underwater SLAM problem.<\/jats:p>","DOI":"10.3390\/rs15102496","type":"journal-article","created":{"date-parts":[[2023,5,10]],"date-time":"2023-05-10T01:57:51Z","timestamp":1683683871000},"page":"2496","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":52,"title":["An Overview of Key SLAM Technologies for Underwater Scenes"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6970-2997","authenticated-orcid":false,"given":"Xiaotian","family":"Wang","sequence":"first","affiliation":[{"name":"School of Computer and Information, Hohai University, Nanjing 210000, China"}]},{"given":"Xinnan","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Hohai University, Changzhou 213002, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4467-7641","authenticated-orcid":false,"given":"Pengfei","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Hohai University, Changzhou 213002, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7130-8331","authenticated-orcid":false,"given":"Jianjun","family":"Ni","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Hohai University, Changzhou 213002, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2772-3877","authenticated-orcid":false,"given":"Zhongkai","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Hohai University, Changzhou 213002, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,5,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2762","DOI":"10.1109\/TITS.2017.2766768","article-title":"GNSS position integrity in urban environments: A review of literature","volume":"19","author":"Zhu","year":"2018","journal-title":"IEEE Trans. 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