A Fast Selection Method of Landmarks for Terrain Matching Navigation

A Fast and Robust Scene Matching Method for Navigation

The selection of matching method is critical to the scene matching navigation system, as it determines the accuracy of navigation. A coarse-to-fine matching method, which combines the area-based and feature-based matching method, is presented to meet the requirements of navigation, including the real-time performance, the sub-pixel accuracy and the robustness. In the coarse matching stage, the ...

Landmark Selection for Terrain Matching

W e describe techniques to optimally select landmarks in order to perform mobile robot localization by matching terrain maps. The method is based upon a maximum-likelihood robot localization algorithm that efficiently searches the space of possible robot positions. W e u s e a sensor error model to estimate the probability distribution of the terrain expected to be seen from the current robot p...

Automatic Selection of Landmarks for Mobile Robot Navigation

Improved Fast Replanning for Robot Navigation in Unknown Terrain

Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able to replan quickly as their knowledge of the terrain changes. Stentz’ Focussed Dynamic A* is a heuristic search method that repeatedly determines a shortest path from the current ...

Terrain Aided AUV Navigation A Comparison of the Point Mass Filter and Terrain Contour Matching Algorithms

The navigation of most autonomous underwater vehicles (AUVs) and submarines is based on inertial navigation systems. Even with Doppler log aiding, these systems will drift away from the true position, and position …xes are needed. This paper will focus on obtaining submerged position …xes derived from bathymetric measurements, using a prior bathymetric map. We focus on two di¤erent terrain aide...