Underwater SLAM in a marina environment
dc.contributor.author
dc.date.accessioned
2010-05-20T10:24:08Z
dc.date.available
2010-05-03T15:15:17Z
2010-05-20T10:24:08Z
dc.date.issued
2007
dc.identifier.citation
Ribas, D., Ridao, P., Tardós, J.D., i Neira, J. (2007). Underwater SLAM in a marina environment. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2007 : IROS 2007, 1455-1460. Recuperat 20 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4399222
dc.identifier.isbn
978-1-4244-0912-9
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dc.description.abstract
This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show 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/IROS.2007.4399222
dc.relation.ispartof
© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2007 : IROS 2007, 2007, p. 1455-1460
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Underwater SLAM in a marina environment
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi