Paper Info
Title
Underwater SLAM in man-made structured environments
Abstract
This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas, and marine platforms. A mechanically scanned imaging sonar is used to obtain information about the location of vertical planar structures present in such environments. A robust voting algorithm has been developed to extract line features, together with their uncertainty, from the continuous sonar data flow. The obtained information is incorporated into a feature-based simultaneous localization and mapping (SLAM) algorithm running an extended Kalman filter. Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Moreover, a procedure to build and maintain a sequence of local maps and to posteriorly recover the full global map has been adapted for the application presented. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach. © 2008 Wiley Periodicals, Inc.
Year
DOI
Venue
2008
10.1002/rob.v25:11/12
J. Field Robotics
Keywords
Field
DocType
data flow,simultaneous localization and mapping,extended kalman filter,feature extraction
Computer vision,Extended Kalman filter,Global Map,Simulation,Navigation system,Sonar,Planar,Artificial intelligence,Engineering,Simultaneous localization and mapping,Data flow diagram,Underwater
Journal
Volume
Issue
ISSN
25
11-12
1556-4959
Citations 
PageRank 
References 
30
1.82
25
Authors
4
Name
Order
Citations
PageRank
David Ribas121519.36
Pere Ridao237343.69
Juan Domingo33319258.54
José Neira41266136.94