SLAM is one of the most fundamental areas of research in robotics and computer vision. State of the art solutions has advanced significantly in terms of accuracy and stability. Unfortunately, not all the approaches are available as open-source solutions and free to use. The results of some of them are difficult to reproduce, and there is a lack of comparison on common datasets. In our work, we make a comparative analysis of state-of-the-art open-source methods. We assess the algorithms based on accuracy, computational performance, robustness, and fault tolerance. Moreover, we present a comparison of datasets as well as an analysis of algorithms from a practical point of view. The findings of the work raise several crucial questions for SLAM researchers.

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Modern society is inseparably linked with electrical energy utilization in many areas of life and activities. Fleet and its transport infrastructure equipped with an electric equipment of various degree of complexity is not an exception. Currently, hundreds of thousands of commercial, fishing, passenger and other ships are operational and perform their functions. Technical perfection of their production mechanisms and technological processes being implemented are largely determined by the perfection of the actuator and degree of automation. The advantages of electrical energy, creation of advanced enough electromechanical converters and the development of control systems has led to the introduction of automated electric drives, the main part of which are electric motors. The article presents some results of the performed researches on widely used three-phase asynchronous motors, with the aim of improving their energy efficiency.

Energy performance asynchronous motors (AD), power factor and efficiency, significantly depend on the parameters of the supply voltage (magnitude, frequency) and mode of operation (load factor). To improve the efficiency of operation, various methods of reducing reactive power are used. It is possible to distinguish artificial methods based on the use of additional devices, and the possibility of reducing reactive power in a natural way. The research is aimed at identifying the dependence of the energy parameters of the AD in the function of the stator voltage. A characteristic operational feature of three-phase AD is relatively large values of idling currents I 0 (up to 40% of I n), which are more reactive and largely determine the power coefficients. Thus, reactive power consumed from the network is less dependent on loads. When the phase voltage changes, the reactive power changes in the quadratic dependence. In addition, the change in voltage leads to a change in the inductive resistance, depending on the saturation of the magnetic system of AD. In determining the feasibility of changing (reducing) the phase voltage to the AD, investigated the dependence of the additional reactive power dQ, which is the greater, the less loaded AD, and the loss of active power in the AD, determining their heating, in the function U f .. The performed studies reveal the possibility of natural increase of the co-efficiency of AD power when working with the load factor K Z <1. In the case of the implementation of these opportunities, the weighted average power factor of the cosφ ср of production enterprises as a whole may not be less than 0.9. The results of the research allow us to conclude about the feasibility of using low voltage U s for three-phase motors operating in areas of low loads.

The monograph provides an overview and analysis of ship's rowing electrical installations, modern scientific and technical solutions aimed at improving the theory and practice of electrical systems of ship propulsion systems are considered. Solutions of urgent problems related to the development of rowing electric installations of small-tonnage vessels based on the introduction of combined power plants, including electrochemical sources of electricity (batteries), are proposed. It is intended for scientific and educational purposes and is aimed at specialists in the field of ship power engineering, cadets and students of electromechanical specialties of educational institutions.