Augmented state Kalman filtering for AUV navigation
dc.contributor.author
dc.date.accessioned
2010-05-20T10:55:26Z
dc.date.available
2010-05-03T15:09:06Z
2010-05-20T10:55:26Z
dc.date.issued
2002
dc.identifier.citation
Garcia, R., Puig, J., Ridao, P., Cufi, X. (2002). Augmented state Kalman filtering for AUV navigation. IEEE International Conference on Robotics and Automation : 2002 : Proceedings : ICRA '02, 4, 4010-4015. Recuperat 20 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1014362
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0-7803-7272-7
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dc.description.abstract
Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ROBOT.2002.1014362
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© IEEE International Conference on Robotics and Automation : 2002 : Proceedings : ICRA '02, 2002, vol. 4, p. 4010-4015
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Augmented state Kalman filtering for AUV navigation
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi