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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Stochastic mapping using forward look sonar


    Beteiligte:
    Leonard, J.J. (Autor:in) / Carpenter, R.N. (Autor:in) / Feder, H.J.S. (Autor:in)

    Erschienen in:

    Robotica ; 19 , 5 ; 467-480


    Erscheinungsdatum :

    2001


    Format / Umfang :

    14 Seiten, 30 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





    BatSLAM : simultaneous localization and mapping using biomimetic sonar

    Steckel, Jan / Peremans, Herbert | BASE | 2013

    Freier Zugriff

    Underwater vehicle path planning using a multi-beam forward looking sonar

    Petillot, Y. / Tena Ruiz, I. / Lane, D.M. et al. | Tema Archiv | 1998


    A Look Back and a Look Forward

    Hodges, Dewey H. | AIAA | 2006


    A Look Back and a Look Forward

    Clark H. Lewis | AIAA | 1991