NDLI: On the development of a framework for underwater localization using all-source data

Content Provider	IEEE Xplore Digital Library
Author	Menozzi, A. Hansen, J. Peele, G. Snarski, S. Merrick, C.
Copyright Year	2015
Description	Author affiliation: Appl. Res. Assoc., Inc., Raleigh, NC, USA (Menozzi, A.; Peele, G.; Snarski, S.) \|\| Naval Undersea Warfare Center, Newport, RI, USA (Hansen, J.; Merrick, C.)
Abstract	This paper describes the current state of development of a localization framework with the goal of enabling an autonomous underwater vehicle (AUV) to execute long-range precision-navigation missions where positional resets based on GPS and/or transponders are unfeasible and bathymetric maps of sufficient accuracy are not always available. This framework has three main components: a real-time sonar data processing pipeline providing 3-D point-cloud measurements segmented into objects and underwater terrain; a 3-D synthetic natural environment (SNE) integrating geo-registered data from all available sources; a probabilistic localization method linking the SNE to the sonar processing pipeline and producing a probability map over the space of AUV horizontal positions. The current focus and novel contribution of this work is the specific method of exploitation of FLS 3-D point-cloud and 3-D reference map data, and the design of the corresponding probabilistic measurement model for localization. Initial off-line experiments, using real inwater data for which navigational ground truth is available, show the performance of this measurement model and the promise of the overall approach toward achieving horizontal position resets with a 95% circular error probability (CEP95) of less than 20 m.
Starting Page	1
Ending Page	10
File Size	1473445
Page Count	10
File Format	PDF
e-ISBN	9781479987368
DOI	10.1109/OCEANS-Genova.2015.7271410
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-18
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Probabilistic logic Sonar Pipelines Bridges Sonar navigation
Content Type	Text
Resource Type	Article

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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
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