SLAM using an Imaging Sonar for Partially Structured Underwater Environments
dc.contributor.author
dc.date.accessioned
2010-05-18T09:44:14Z
dc.date.available
2010-05-03T15:15:11Z
2010-05-18T09:44:14Z
dc.date.issued
2006
dc.identifier.citation
Ribas, D., Ridao, P., Neira, J., i Tardós, J.D. (2006). SLAM using an Imaging Sonar for Partially Structured Underwater Environments. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2006, 5040-5045. Recuperat 18 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4059220
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1-4244-0258-1
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dc.description.abstract
In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach
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/IROS.2006.282532
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© IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, p. 5040-5045
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.subject
dc.title
SLAM using an Imaging Sonar for Partially Structured Underwater Environments
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi