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SLAM using an Imaging Sonar for Partially Structured Underwater Environments

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach

IEEE

Author: Ribas Romagós, David
Ridao Rodríguez, Pere
Neira Parra, José
Tardós, Juan Domingo
Date: 2018 June 5
Abstract: In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach
Document access: http://hdl.handle.net/2072/320427
Language: eng
Publisher: IEEE
Rights: Tots els drets reservats
Subject: Robots mòbils -- Sistemes de control
Imatges -- Processament
Sistema de posicionament global
Vehicles submergibles
Global Positioning System
Image processing
Mobile robots -- Control systems
Submersibles
Fons marins -- Mapes
Ocean bottom -- Maps
Algorismes computacionals
Computer algorithms
Title: SLAM using an Imaging Sonar for Partially Structured Underwater Environments
Type: info:eu-repo/semantics/article
Repository: Recercat

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