Sonar scan matching for simultaneous localization and mapping in confined underwater environments
This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping(SLAM) framework
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| Tipo de recurso: | tesis doctoral |
| Estado: | Versión publicada |
| Fecha de publicación: | 2014 |
| País: | España |
| Institución: | CBUC, CESCA |
| Repositorio: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/134727 |
| Acceso en línea: | http://hdl.handle.net/10803/134727 |
| Access Level: | acceso abierto |
| Palabra clave: | Underwater robotics Robòtica submarina Robótica submarina Localization Localització Localización Mapping Mapeig Mapeo Sonar Sound navigation and ranging 62 68 |
| Sumario: | This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping(SLAM) framework |
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