NDLI: Toward robust localization and mapping for shallow water ROV inspections

Content Provider	IEEE Xplore Digital Library
Author	Goldfarb, Nathaniel Wang, Jinkun Bai, Shi Englot, Brendan
Copyright Year	2015
Description	Author affiliation: Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken NJ 07030 USA (Goldfarb, Nathaniel; Wang, Jinkun; Bai, Shi; Englot, Brendan)
Abstract	We propose a portfolio of filtering methods for a remotely-operated vehicle (ROV) that relies on a compass, gyro, depth sensor and ultra-short baseline (USBL) positioning system for localization in shallow-water environments. Our goal is to maintain an accurate state estimate that will be suitable as a basis for decision-making in the course of carrying out an autonomous underwater inspection. We employ Kalman filters in conjunction with an outlier filter to produce a reliable estimate in the presence of noisy and spurious data. Our localization result is then used as a basis for 3D occupancy mapping, in which further filtering and inference techniques are applied to remove false returns from the ROV's scanning sonar. Localization results from two field deployments of the ROV are given.
Starting Page	1
Ending Page	7
File Size	6971362
Page Count	7
File Format	PDF
ISBN	9780933957435
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Robot sensing systems Kalman filters Sonar Three-dimensional displays Position measurement Inspection
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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