{ "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 R." , "dc.date.accessioned": "2010-05-04T12:28:44Z" , "dc.date.available": "2010-05-03T15:10:32Z" , "dc.date.available": "2010-05-04T12:28:44Z" , "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.subject": "Algorismes computacionals" , "dc.subject": "Computer algorithms" , "dc.title": "Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar" , "dc.type": "info:eu-repo/semantics/article" , "dc.rights.accessRights": "info:eu-repo/semantics/openAccess" , "dc.identifier.doi": "http://dx.doi.org/10.1109/OCEANSE.2009.5278219" }