Shallow waters SLAM experiments on meredith AUV using forward looking sonar

Autor:	W. S. Wijesoma, S. L. Pua, A. C. T. Koh, B. Kalyan, K. W. Lee
Rok vydání:	2009
Předmět:	Ground truth Engineering business.industry Feature (computer vision) Computation Sea trial Global Positioning System Simultaneous localization and mapping Remotely operated underwater vehicle business Sonar Marine engineering
Zdroj:	OCEANS 2009.
DOI:	10.23919/oceans.2009.5422422
Popis:	This paper describes the sea trial experiments conducted to validate the physical implementation of online EKF-SLAM onboard the Meredith Autonomous Underwater Vehicle (AUV) in shallow coastal waters. This paper provides details of the hardware and software implementations of the EKF-SLAM algorithms running real-time on the AUV to perform feature-based navigation. The computation resources onboard Meredith and the hardware configuration that facilitated the real-time SLAM demonstration are also featured in this paper. The localization estimates from the SLAM algorithm were validated with ground truth provided by GPS and the deployed targets. Dead-reckoning navigation solution based on DVL and FOGs that were used for vehicle autonomy were also made available for results validation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d795b184921f3a05c8260fd5aca10b6d https://doi.org/10.23919/oceans.2009.5422422 Zobrazit plný text záznamu