منابع مشابه
Building Elevation Maps From Underwater Sonar Data
Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. This paper describes an approach for autonomous underwater vehicles using a side scan sonar system. First. some general aspects of the type of data and filtering techniques to improve it are discussed. We then proceed to derive an estimcltcd bottom contour, using a geomemc reflection ...
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This paper describes a geometric approach to underwater environmental modeling using sonar. We classify and localize geometric features of man-made objects by combining the boundary constraints of sonar returns obtained from multiple vantage points. The approach builds on our previous use of Reid's multiple hypothesis tracking (MHT) algorithm in order to resolve data association and motion corr...
متن کاملSpectral registration of noisy sonar data for underwater 3D mapping
3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors. A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor. The spectral registratio...
متن کاملUsing Sonar in Terrain-Aided Underwater Navigation
Using Sonar in Terrain-Aided Underwater Navigation P.Newman H.Durrant-Whyte Department of Mechatronics University of Sydney, NSW. 2006, Australia e-mail pauln/hugh@mech,eng.usyd.edu.au In many ways autonomous navigation of underwater vehicles is a ‘holy grail’ of subsea robotics. For an AUV to continually estimate its pose (position and orientation) and operate within an initially unknown envir...
متن کاملThe Sonar Simulator for Underwater Navigation
Position of surface objects can be fixed in many ways. The most popular radionavigational systems, including satellite systems, make possible obtaining nearly continuous and very precise ship’s position. However, under the water application of radionavigational systems is impossible. Underwater navigation requires other tools and solutions then these encountered in surface and air navigation. I...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2017
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364917732838