Name
Abstract | ||
|---|---|---|
In this paper an approach to the field of outdoor robotic navigation with focus on underwater simulataneous localization and mapping (SLAM) is proposed that utilizes ultrasonic scanning images. Experimental results from the implementation of it SLAM algorithm with real data are presented. The projected landmark detection process constructs a map of the environment and generates navigation estimates based on an adaptive delayed nearest-neighbor algorithm. The feature extraction and validation processes are resolved at the sensor level using a simple local maximum-level detection algorithm on the range data. This paper presents experimental results from our research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in it shallow water environment. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008 |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1163/156855308X338429 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
Terrain-based navigation,concurrent mapping and localization,underwater vehicle navigation,scanning sonar,extended Kalman filter | Ultrasonic sensor,Computer vision,Extended Kalman filter,Terrain,Feature extraction,Artificial intelligence,Engineering,Landmark,Simultaneous localization and mapping,Remotely operated vehicle,Underwater | Journal |
Volume | Issue | ISSN |
22 | 11 | 0169-1864 |
Citations | PageRank | References |
1 | 0.37 | 6 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| John N. Lygouras | 1 | 63 | 10.28 |
| Vassilis S. Kodogiannis | 2 | 272 | 35.17 |
| Theodoros P. Pachidis | 3 | 1 | 0.37 |
| Panagiotis Liatsis | 4 | 1 | 0.37 |