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Stochastic Mapping Using Forward Look Sonar (1999)
| Content Provider | CiteSeerX |
|---|---|
| Author | Leonard, John J. Carpenter, Robert N. Feder, Hans Jacob S. Jacob, Hans Feder, S. |
| Description | The goal of concurrent mapping and localization (CML) is enable a mobile robot to build a map of an unknown environment, while concurrently using that map to navigate. This paper describes the application of the stochastic mapping approach to CML [10, 8, 3] to data from a high resolution array forward look imaging sonar [9, 7, 2]. The objective is to test the feasibility of stochastic mapping as a method for autonomous underwater vehicle (AUV) navigation. Measurements from the forward look sonar were postprocessed to yield estimates for the locations of environmental features and the trajectory of the sensor. The resulting trajectory provides an improvement in comparison to position estimates computed with an inertial navigation system. DGPS data is used as a ground-truth for comparison. The results demonstrate the potential of CML algorithms to achieve a bounded navigation error through tracking of environmental features. 1 Introduction Navigation is one of the most challenging issu... |
| File Format | |
| Language | English |
| Publisher Date | 1999-01-01 |
| Publisher Institution | Robotica |
| Access Restriction | Open |
| Subject Keyword | Introduction Navigation Mobile Robot Concurrent Mapping Bounded Navigation Error Dgps Data Cml Algorithm Unknown Environment Environmental Feature Forward Look Sonar High Resolution Array Position Estimate Autonomous Underwater Vehicle Challenging Issu Stochastic Mapping Inertial Navigation System Stochastic Mapping Approach |
| Content Type | Text |
| Resource Type | Article |
