Engineering Commons^™

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 …