Although traditional tracking and multitarget tracking have examined the problems of estimating multiple targets in an uncertain environment, the addition of navigational uncertainty results in additional complexities which are not addressed by these methodologies. Concurrent mapping and localization refers to the use of environmental cues to both build a map and reduce navigational uncertainty. This new technology promises to enhance greatly the performance of unmanned underwater vehicles (UUVs) navigating in unknown and unmapped environments. After examining background to this problem, we describe the process of concurrent mapping and localization. An implementation plan for realizing the capability of concurrent mapping and localization on a eld vehicle is presented. Key research issues are highlighted and progress in these areas is presented.
Concurrent Mapping and Localization for Autonomous Underwater Vehicles
1997
8 pages
Report
Keine Angabe
Englisch
Algebra, Analysis, Geometry, & Mathematical Logic , Marine Engineering , Navigation Systems , Environmental Management & Planning , Environment , Mapping , Underwater vehicles , Environments , Methodology , Multiple targets , Navigation , Tracking , Uncertainty , Auv(Autonomous underwater vehicles) , Localization
NLMAP: visual-based self localization and mapping for autonomous underwater vehicles
Tema Archiv | 2008
|Visual odometry and mapping for Underwater Autonomous Vehicles
Tema Archiv | 2009
|Mid-water current aided localization for autonomous underwater vehicles
British Library Online Contents | 2016
|Localization of autonomous underwater vehicles by sonar image processing
Tema Archiv | 2007
|