Terrain-Based Navigation for Underwater Vehicles Using an Ultrasonic Scanning System
| Autor: | Panagiotis Liatsis, John N. Lygouras, Vassilis Kodogiannis, Theodoros P. Pachidis |
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| Rok vydání: | 2008 |
| Předmět: |
Landmark
Computer science business.industry Feature extraction Process (computing) Terrain Simultaneous localization and mapping Remotely operated vehicle Computer Science Applications Human-Computer Interaction Extended Kalman filter Hardware and Architecture Control and Systems Engineering Computer vision Artificial intelligence Underwater business Software |
| Zdroj: | Advanced Robotics. 22:1181-1205 |
| ISSN: | 1568-5535 0169-1864 |
| Popis: | In this paper an approach to the field of outdoor robotic navigation with a focus on underwater simultaneous localization and mapping (SLAM) is proposed that utilizes ultrasonic scanning images. Experimental results from the implementation of a SLAM algorithm with real data are presented. The projected landmark detection process constructs a map of the environment and generates navigation estimates based on an adaptive delayed nearest-neighbor algorithm. The feature extraction and validation processes are resolved at the sensor level using a simple local maximum-level detection algorithm on the range data. This paper presents experimental results from our research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in a shallow water environment. |
| Databáze: | OpenAIRE |
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