NDLI: Underwater geomagnetic navigation based on ICP algorithm

Content Provider	IEEE Xplore Digital Library
Author	Yi Lin Lei Yan Qingxi Tong
Copyright Year	2007
Description	Author affiliation: Inst. of RS & GIS Res., Peking Univ., Beijing (Yi Lin; Lei Yan)
Abstract	The trend of ocean exploitation puts forward higher requirements for automatic vehicles, while navigation module has been the development constraint for underwater robots. NATURE reported that some sea-turtles recur to geomagnetic "map" for navigation. Although the concrete mechanism has not been made clear yet, this still offers some cue to underwater navigation research. Now bionic researches reckon that matching is one very-possible positioning mode in this subject. Simultaneously remote sensing image processing techniques also supply some inspiration. Its traditional iterative closest point (ICP) algorithm for image registration can be transplanted for location determination. Combined with inertial navigation system (INS) which is as common navigation kernel, this paper emphasizes on how to modify and improve ICP algorithm according to underwater geomagnetic condition. Related aspects such as hunting window concluded from INS and closest points' quick-searching by stepwise extrapolation are also analyzed for the integrity of the proposed method above. The algorithm's applicability is concluded mathematically from the transformation relationship between INS's parameters and related real ones. Then simulation experiments for validation of the proposed algorithm's effectiveness, which is based on the real geomagnetic reference data, are carried out.
Starting Page	2115
Ending Page	2120
File Size	276150
Page Count	6
File Format	PDF
ISBN	9781424417612
DOI	10.1109/ROBIO.2007.4522496
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Geomagnetism Navigation Iterative closest point algorithm Iterative algorithms Oceans Marine vehicles Underwater vehicles Robot sensing systems Robotics and automation Concrete INS underwater geomagnetism ICP
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
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Robust geomagnetic aided inertial navigation of underwater vehicles using the ICP algorithm

Study on underwater navigation system based on geomagnetic match technique

Research on geomagnetic-matching technology based on improved ICP algorithm

VICP: Velocity updating iterative closest point algorithm

Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation

Sancta simplicitas - on the efficiency and achievable results of SLAM using ICP-based incremental registration

Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT

A generalization of the metric-based Iterative Closest Point technique for 3D scan matching

Cached k-d tree search for ICP algorithms

Underwater geomagnetic navigation based on ICP algorithm

Similar Documents

Robust geomagnetic aided inertial navigation of underwater vehicles using the ICP algorithm

Study on underwater navigation system based on geomagnetic match technique

Research on geomagnetic-matching technology based on improved ICP algorithm

VICP: Velocity updating iterative closest point algorithm

Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation

Sancta simplicitas - on the efficiency and achievable results of SLAM using ICP-based incremental registration

Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT

A generalization of the metric-based Iterative Closest Point technique for 3D scan matching

Cached k-d tree search for ICP algorithms

Underwater geomagnetic navigation based on ICP algorithm