Where's Wally?: location of acoustic landmarks using AUVS in a pose-graph framework

This work presents the implementation of an acoustic localization system that can work either with ranges or bearings. The algorithm is based on factor graphs and uses the information gathered from acoustic landmarks to estimate their position and the AUV pose without previous knowledge of their loc...

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Detalles Bibliográficos
Autores: Real Vial, Marta, Vial Serrat, Pau, Segura Duran, Ricard, Toma, Daniel|||0000-0003-0472-1190, Ramón Ripoll, Álex, López Navarro, Juan Manuel, Cufí Solè, Xavier, Forest Collado, Josep, Palomeras Rovira, Narcís, Río Fernández, Joaquín del|||0000-0002-6191-2201, Carreras Pérez, Marc
Tipo de recurso: artículo
Fecha de publicación:2024
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/411120
Acceso en línea:https://hdl.handle.net/2117/411120
https://dx.doi.org/10.5821/iwp.2024.23.14145
Access Level:acceso abierto
Palabra clave:Underwater acoustics
Autonomous underwater vehicles
Acoustic localization
Autonomous underwater vehicle
Pose-graph SLAM
Acústica submarina
Vehicles submergibles autònoms
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la parla i del senyal acústic
Àrees temàtiques de la UPC::Física::Acústica
Descripción
Sumario:This work presents the implementation of an acoustic localization system that can work either with ranges or bearings. The algorithm is based on factor graphs and uses the information gathered from acoustic landmarks to estimate their position and the AUV pose without previous knowledge of their locations.

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