Open Access. Powered by Scholars. Published by Universities.®
- Publication
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Senior Project: Control System For An Underwater Remotely Operated Vehicle, Tyler Mau, Joseph Mahoney
Senior Project: Control System For An Underwater Remotely Operated Vehicle, Tyler Mau, Joseph Mahoney
Computer Engineering
No abstract provided.
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 …