Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

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dc.contributor.author Mallios, Angelos
dc.contributor.author Ridao Rodríguez, Pere
dc.contributor.author Hernàndez Bes, Emili
dc.contributor.author Ribas Romagós, David
dc.contributor.author Maurelli, Francesco
dc.contributor.author Petillot, Yvan
dc.date.issued 2009
dc.identifier.citation Mallios, A., Ridao, P., Hernández, E., Ribas, D., Maurelli, F., i Petillot, Y. (2009). Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar . OCEANS 2009-EUROPE : 2009 : OCEANS '09, 1-6. Recuperat 04 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5278219
dc.identifier.isbn 978-1-4244-2522-8
dc.identifier.uri http://hdl.handle.net/10256/2160
dc.description.abstract This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.relation.isformatof Reproducció digital del document publicat a: http://dx.doi.org/10.1109/OCEANSE.2009.5278219
dc.relation.ispartof © OCEANS 2009-EUROPE : 2009 : OCEANS '09, 2009, p. 1-6
dc.relation.ispartofseries Articles publicats (D-ATC)
dc.rights Tots els drets reservats
dc.subject Robots mòbils
dc.subject Robots mòbils -- Sistemes de control
dc.subject Vehicles submergibles -- Sistemes de control
dc.subject Vehicles submergibles -- Telecontrol
dc.subject Mobile robots
dc.subject Mobile robots -- Control systems
dc.subject Submersibles -- Control systems
dc.subject Submersibles -- Remote control
dc.title Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
dc.type info:eu-repo/semantics/article
dc.identifier.doi http://dx.doi.org/10.1109/OCEANSE.2009.5278219


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