Stochastic mapping using forward look sonar
| Autor: | Hans Jacob S. Feder, Robert N. Carpenter, John L. Leonard |
|---|---|
| Rok vydání: | 2001 |
| Předmět: |
Computer science
Stochastic mapping Stochastic process business.industry General Mathematics ComputerApplications_COMPUTERSINOTHERSYSTEMS Sonar Computer Science Applications Data set Control and Systems Engineering Position (vector) Trajectory Computer vision Artificial intelligence business Software Inertial navigation system Seabed |
| Zdroj: | Robotica. 19:467-480 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574701003411 |
| Popis: | This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and localization algorithms to satisfy the navigation requirements of undersea vehicles equipped with forward look sonar. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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