PCA positioning sensor characterization for terrain based navigation of UVs

  • Authors:

  • Paulo Oliveira

  • Affiliations:

  • IST/DEEC and ISR, Torre Norte 8o andar, Lisbon, Portugal

  • Venue:
  • IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
  • Year:
  • 2005

Quantified Score

Hi-index 0.00

Visualization

Abstract

Principal Component Analysis has been recently proposed as a nonlinear positioning sensor in the development of tools for Terrain Based Navigation of Underwater Vehicles [10]. In this work the error sources affecting the proposed unsupervised methodology will be enumerated, the stochastic characterization will be studied, and the attainable performance will be discussed. Based on a series of Monte Carlo experiments for a large set of synthesized terrains, conclusions will be drawn on the adequacy of the proposed nonlinear approach.