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A Comparative Study Of Feature Detection Methods For Auv Localization, Andrew Y. Kim
A Comparative Study Of Feature Detection Methods For Auv Localization, Andrew Y. Kim
Master's Theses
Underwater localization is a difficult task when it comes to making the system autonomous due to the unpredictable environment. The fact that radio signals such as GPS cannot be transmitted through water makes autonomous movement and localization underwater even more challenging. One specific method that is widely used for autonomous underwater navigation applications is Simultaneous Localization and Mapping (SLAM), a technique in which a map is created and updated while localizing the vehicle within the map. In SLAM, feature detection is used in landmark extraction and data association by examining each pixel and differentiating landmarks pixels from those of the …
Mapping And Visualizing Ancient Water Storage Systems With An Rov – An Approach Based On Fusing Stationary Scans Within A Particle Filter, William D. Mcvicker
Mapping And Visualizing Ancient Water Storage Systems With An Rov – An Approach Based On Fusing Stationary Scans Within A Particle Filter, William D. Mcvicker
Master's Theses
This paper presents a new method for constructing 2D maps of enclosed un- derwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied to a set of stationary sonar scans. In the first step, the change in position of the robot between each consecutive pair of stationary sonar scans is estimated using a particle filter. This set of pair wise relative scan positions is used to create an estimate of each scan’s position …