Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanned Imaging Sona...

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Bibliographic Details
Authors: Mallios, Angelos, Ridao Rodríguez, Pere, Hernández, Emili, Ribas, David
Format: article
Publication Date:2010
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:2099/8599
Online Access:https://hdl.handle.net/2099/8599
Access Level:Open access
Keyword:Underwater navigation
AUV
EKF
SLAM
Imaging sonar
Àrees temàtiques de la UPC::Enginyeria electrònica
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oai_identifier_str oai:upcommons.upc.edu:2099/8599
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repository_id_str
spelling Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonarMallios, AngelosRidao Rodríguez, PereHernández, EmiliRibas, DavidUnderwater navigationAUVEKFSLAMImaging sonarÀrees temàtiques de la UPC::Enginyeria electrònicaThis paper proposes a pose-based algorithm to solve the full SLAM problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanned Imaging Sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600m path within a marina environment, showing the viability of the proposed approach.Peer ReviewedSARTI (Technological Development Centre of Remote Acquisition and Data processing Systems)20102010-03-0420102010-03-04journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2099/8599reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2099/85992026-05-27T15:37:01Z
dc.title.none.fl_str_mv Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
title Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
spellingShingle Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
Mallios, Angelos
Underwater navigation
AUV
EKF
SLAM
Imaging sonar
Àrees temàtiques de la UPC::Enginyeria electrònica
title_short Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
title_full Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
title_fullStr Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
title_full_unstemmed Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
title_sort Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
dc.creator.none.fl_str_mv Mallios, Angelos
Ridao Rodríguez, Pere
Hernández, Emili
Ribas, David
author Mallios, Angelos
author_facet Mallios, Angelos
Ridao Rodríguez, Pere
Hernández, Emili
Ribas, David
author_role author
author2 Ridao Rodríguez, Pere
Hernández, Emili
Ribas, David
author2_role author
author
author
dc.subject.none.fl_str_mv Underwater navigation
AUV
EKF
SLAM
Imaging sonar
Àrees temàtiques de la UPC::Enginyeria electrònica
topic Underwater navigation
AUV
EKF
SLAM
Imaging sonar
Àrees temàtiques de la UPC::Enginyeria electrònica
description This paper proposes a pose-based algorithm to solve the full SLAM problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanned Imaging Sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600m path within a marina environment, showing the viability of the proposed approach.
publishDate 2010
dc.date.none.fl_str_mv 2010
2010-03-04
2010
2010-03-04
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2099/8599
url https://hdl.handle.net/2099/8599
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-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
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-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems)
publisher.none.fl_str_mv SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems)
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
_version_ 1869412738463170560
score 15.300719

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