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

The 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 Vehi...

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Detalles Bibliográficos
Autores: Vial, Pau, Palomeras, Narcís, Solà, Joan, Carreras, Marc
Tipo de recurso: artículo
Fecha de publicación:2024
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/362176
Acceso en línea:http://hdl.handle.net/10261/362176
https://api.elsevier.com/content/abstract/scopus_id/85178437853
Access Level:acceso abierto
Palabra clave:Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
Optimization
Pose SLAM
Profiling sonars
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spelling Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonarVial, PauPalomeras, NarcísSolà, JoanCarreras, MarcAcoustic scan registrationAutonomous underwater vehiclesField roboticsGaussian mixtures modelLie theoryOptimizationPose SLAMProfiling sonarsThe 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.This study has been supported by the Spanish Government through the PhD Grant/Award Number FPU19/03638 to Pau Vial and by the Biter-AUV and PLOME projects, under the grant agreements PID2020-114732RB-C33 and PLEC2021-007525. Open Access funding was provided thanks to the CRUE-CSIC agreement with Wiley. Finally, the authors are also grateful to Lluís Magí for helping with the Sparus II AUV sea operations, Roger Pi for assisting with the software development and Esther Barrabés from the Applied Mathematics Department of Universitat de Girona for helping in the derivatives development of Annexes A and B.Peer reviewedJohn Wiley & SonsAgencia Estatal de Investigación (España)Ministerio de Ciencia, Innovación y Universidades (España)Ministerio de Ciencia e Innovación (España)Conferencia de Rectores de las Universidades EspañolasConsejo Superior de Investigaciones Científicas (España)Vial, Pau [0000-0003-4935-0899]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202420242024info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501application/pdfhttp://hdl.handle.net/10261/362176https://api.elsevier.com/content/abstract/scopus_id/85178437853reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-114732RB-C33info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PLEC2021-007525https://doi.org/10.1002/rob.22272Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3621762026-05-22T06:33:51Z
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, Pau
Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
Optimization
Pose SLAM
Profiling sonars
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, Pau
Palomeras, Narcís
Solà, Joan
Carreras, Marc
author Vial, Pau
author_facet Vial, Pau
Palomeras, Narcís
Solà, Joan
Carreras, Marc
author_role author
author2 Palomeras, Narcís
Solà, Joan
Carreras, Marc
author2_role author
author
author
dc.contributor.none.fl_str_mv Agencia Estatal de Investigación (España)
Ministerio de Ciencia, Innovación y Universidades (España)
Ministerio de Ciencia e Innovación (España)
Conferencia de Rectores de las Universidades Españolas
Consejo Superior de Investigaciones Científicas (España)
Vial, Pau [0000-0003-4935-0899]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
Optimization
Pose SLAM
Profiling sonars
topic Acoustic scan registration
Autonomous underwater vehicles
Field robotics
Gaussian mixtures model
Lie theory
Optimization
Pose SLAM
Profiling sonars
description The 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.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/362176
https://api.elsevier.com/content/abstract/scopus_id/85178437853
url http://hdl.handle.net/10261/362176
https://api.elsevier.com/content/abstract/scopus_id/85178437853
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-114732RB-C33
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PLEC2021-007525
https://doi.org/10.1002/rob.22272
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
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:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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