Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar

This is an open access article under the terms of theCreative Commons Attribution‐NonCommercial‐NoDerivsLicense

Bibliographic Details
Authors: Vial Serrat, Pau, Palomeras Rovira, Narcís, Solà Ortega, Joan|||0000-0002-2933-3381, Carreras Pérez, Marc
Format: article
Publication Date:2024
Country:España
Institution:Universitat Politècnica de Catalunya (UPC)
Repository:UPCommons. Portal del coneixement obert de la UPC
Language:English
OAI Identifier:oai:upcommons.upc.edu:2117/401664
Online Access:https://hdl.handle.net/2117/401664
https://dx.doi.org/10.1002/rob.22272
Access Level:Open access
Keyword:Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
optimization
Pose SLAM
Profiling sonars
Classificació INSPEC::Optimisation
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonarVial Serrat, PauPalomeras Rovira, NarcísSolà Ortega, Joan|||0000-0002-2933-3381Carreras Pérez, MarcAcoustic scan registrationAutonomous underwater vehiclesField roboticsGaussian mixtures modelLie theoryoptimizationPose SLAMProfiling sonarsClassificació INSPEC::OptimisationÀrees temàtiques de la UPC::Informàtica::RobòticaThis is an open access article under the terms of theCreative Commons Attribution‐NonCommercial‐NoDerivsLicenseThe underwater domain is a challenging environment for robotics because widely used electromagnetic devices must be substituted by acoustic equivalents, much slower and noisier. In this paper a two-dimensional pose simultaneous localization and mapping (SLAM) system for an Autonomous Underwater Vehicle based on inertial sensors and a mechanical profiling sonar is presented. Two main systems are specially designed. On the one hand, a dead reckoning system based on Lie Theory is presented to track integrated pose uncertainty. On the other hand, a rigid scan matching technique specialized for acoustic data is proposed, which allows one to estimate the uncertainty of the matching result. Moreover, Bayesian–Gaussian mixtures models are introduced to the scan matching problem and the registration problem is solved by an optimization in Lie groups. The SLAM system is tested on real data and executed in real time with the robotic application. Using this system, section maps at constant depth can be obtained from a three-dimensional underwater domain. The presented SLAM system constitutes the first achievement towards an underwater Active SLAM application.CRUE‐CSIC; PLOME, Grant/Award Number:PLEC2021‐007525; Biter‐AUV,Grant/Award Number: PID2020‐114732RB‐C33; Spanish Government,Grant/Award Number: FPU19/03638Peer ReviewedJohn Wiley & sons20242024-05-0120242024-02-09journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/401664https://dx.doi.org/10.1002/rob.22272reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4016642026-05-27T15:37:01Z
dc.title.none.fl_str_mv Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
title Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
spellingShingle Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
Vial Serrat, Pau
Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
optimization
Pose SLAM
Profiling sonars
Classificació INSPEC::Optimisation
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
title_full Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
title_fullStr Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
title_full_unstemmed Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
title_sort Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
dc.creator.none.fl_str_mv Vial Serrat, Pau
Palomeras Rovira, Narcís
Solà Ortega, Joan|||0000-0002-2933-3381
Carreras Pérez, Marc
author Vial Serrat, Pau
author_facet Vial Serrat, Pau
Palomeras Rovira, Narcís
Solà Ortega, Joan|||0000-0002-2933-3381
Carreras Pérez, Marc
author_role author
author2 Palomeras Rovira, Narcís
Solà Ortega, Joan|||0000-0002-2933-3381
Carreras Pérez, Marc
author2_role author
author
author
dc.subject.none.fl_str_mv Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
optimization
Pose SLAM
Profiling sonars
Classificació INSPEC::Optimisation
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
optimization
Pose SLAM
Profiling sonars
Classificació INSPEC::Optimisation
Àrees temàtiques de la UPC::Informàtica::Robòtica
description This is an open access article under the terms of theCreative Commons Attribution‐NonCommercial‐NoDerivsLicense
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-05-01
2024
2024-02-09
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/401664
https://dx.doi.org/10.1002/rob.22272
url https://hdl.handle.net/2117/401664
https://dx.doi.org/10.1002/rob.22272
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv John Wiley & sons
publisher.none.fl_str_mv John Wiley & sons
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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