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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Stochastic mapping using forward look sonar


    Contributors:

    Published in:

    Robotica ; 19 , 5 ; 467-480


    Publication date :

    2001


    Size :

    14 Seiten, 30 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    BatSLAM : simultaneous localization and mapping using biomimetic sonar

    Steckel, Jan / Peremans, Herbert | BASE | 2013

    Free access

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

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


    A Look Back and a Look Forward

    Clark H. Lewis | AIAA | 1991


    FORWARD LOOK ON ENGINES

    MARKS, D. T. / REINERS, N. M. | SAE Technical Papers | 1958


    A Look Back and a Look Forward

    Hodges, Dewey H. | AIAA | 2006