This paper presents a map-based navigation for autonomous underwater vehicles (AUV) that aims to enhance the localisation without external aid. Bathymetric profiles given by a multibeam echosounder are matched to a reference depth map (RDM). The RDM is an existing chart or is constructed from an AUV survey at high altitude. The echosounder data obtained close to the bottom are integrated in a local depth map (LDM). The matching algorithm uses contour-like points extracted after image smoothing. Differential attributes allow us to identify possible rough matches that initialise the iterative position and orientation estimator. The paper presents new results of the study started in 1994. Major improvements concern image smoothing, estimator initialisation, and in-line evaluation of statistical parameters, making completely automated position estimation possible. First results on real bathymetric data are presented.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Depth image matching for underwater vehicle navigation


    Beteiligte:
    Sistiaga, M. (Autor:in) / Opderbecke, J. (Autor:in) / Aldon, M.-J. (Autor:in)


    Erscheinungsdatum :

    01.01.1999


    Format / Umfang :

    144742 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Depth Image Matching for Underwater Vehicle Navigation

    Sistiaga, M. / Opderbecke, J. / Aldon, M. et al. | British Library Conference Proceedings | 1999


    Review of AUV Underwater Terrain Matching Navigation

    Pengyun Chen | Online Contents | 2015


    Autonomous Underwater Vehicle Navigation

    Leonard, John J. / Bahr, Alexander | Springer Verlag | 2016


    Autonomous Underwater Vehicle Navigation

    P. A. Miller / J. Farrell / Y. Zhao et al. | NTIS | 2008