Scan matching SLAM in underwater environments
dc.contributor.author
dc.date.accessioned
2015-03-25T12:38:25Z
dc.date.available
2015-03-25T12:38:25Z
dc.date.issued
2014
dc.identifier.issn
0929-5593
dc.identifier.uri
dc.description.abstract
This paper proposes a pose-based algorithm to solve the full simultaneous localization and mapping problem for autonomous underwater vehicle (AUV) navigating in unknown and possibly unstructured environments. The proposed method first estimates the local path traveled by the robot while forming the acoustic image (scan) with range data coming from a mono-beam rotating sonar head, providing position estimates for correcting the distortions that the vehicle motion produces in the scans. Then, consecutive scans are cross-registered under a probabilistic scan matching technique for estimating the displacements of the vehicle including the uncertainty of the scan matching result. Finally, an augmented state extended Kalman filter estimates and keeps the registered scans poses. No prior structural information or initial pose are considered. The viability of the proposed approach has been tested reconstructing the trajectory of a guided AUV operating along a 600 m path within a marina environment
dc.description.sponsorship
This research work was partially sponsored by the Spanish project DPI2011-27977-C03-02 (COMAROB) and two European Commission's Seventh Framework Program 2007-2013 Projects: ICT-248497 (TRIDENT) and Marie Curie PERG-GA-2010-276778 (Surf3DSLAM). The dataset was acquired with the help of the members (staff and students) of the Computer Vision and Robotics research group at the University of Girona
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
dc.relation
info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1007/s10514-013-9345-0
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© Autonomous Robots, 2014, vol. 36, p. 181-198
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Scan matching SLAM in underwater environments
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/276778/EU/Probabilistic 3D surface matching for bathymetry based Simultaneous Localization and Mapping of underwater vehicles/SURF3DSLAM
info:eu-repo/grantAgreement/EC/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
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dc.relation.ProjectAcronym