Dam wall detection and tracking using a mechanically scanned imaging sonar
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Probabilistic sonar scan matching for an AUV
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Real-time optical SLAM-based mosaicking for unmanned underwater vehicles
Intelligent Service Robotics
Underwater Localization and Environment Mapping Using Wireless Robots
Wireless Personal Communications: An International Journal
Scan matching SLAM in underwater environments
Autonomous Robots
| Hi-index | 0.00 |
This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas, and marine platforms. A mechanically scanned imaging sonar is used to obtain information about the location of vertical planar structures present in such environments. A robust voting algorithm has been developed to extract line features, together with their uncertainty, from the continuous sonar data flow. The obtained information is incorporated into a feature-based simultaneous localization and mapping (SLAM) algorithm running an extended Kalman filter. 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. Moreover, a procedure to build and maintain a sequence of local maps and to posteriorly recover the full global map has been adapted for the application presented. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach. © 2008 Wiley Periodicals, Inc.