DUGi: Ítem | Recercat - MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar

Ítem

Autor:	Hernàndez Bes, Emili Ridao Rodríguez, Pere Ribas Romagós, David Batlle i Grabulosa, Joan
Resum:	This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results
Accés al document:	http://hdl.handle.net/2072/217645
Llenguatge:	eng
Editor:	Red de Agentes Físicos
Drets:	Attribution-ShareAlike 3.0 Spain
URI Drets:	http://creativecommons.org/licenses/by-sa/3.0/es/
Matèria:	Vehicles submergibles Autonomous robots Algorismes computacionals Computer algorithms
Títol:	MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar
Tipus:	info:eu-repo/semantics/article
Repositori:	Recercat