Warning: session_start() [function.session-start]: open(/var/lib/php5/sess_3ee3521d3c30623dc21ee0d20a791ddc, O_RDWR) failed: Read-only file system (30) in /dades/dugi/start_cache.php on line 4

Warning: session_start() [function.session-start]: Cannot send session cookie - headers already sent by (output started at /dades/dugi/start_cache.php:4) in /dades/dugi/start_cache.php on line 4

Warning: session_start() [function.session-start]: Cannot send session cache limiter - headers already sent (output started at /dades/dugi/start_cache.php:4) in /dades/dugi/start_cache.php on line 4

Warning: Cannot modify header information - headers already sent by (output started at /dades/dugi/start_cache.php:4) in /dades/dugi/start_cache.php on line 7
DUGi: Ítem | Recercat - Underwater SLAM in a marina environment

Ítem


Underwater SLAM in a marina environment

This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV’s position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach

IEEE

Autor: Ribas Romagós, David
Ridao Rodríguez, Pere
Tardós, Juan Domingo
Neira Parra, José
Data: 5 juny 2018
Resum: This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV’s position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach
Accés al document: http://hdl.handle.net/2072/320438
Llenguatge: eng
Editor: IEEE
Drets: Tots els drets reservats
Matèria: Robots mòbils
Imatges -- Processament
Vehicles submergibles
Image processing
Mobile robots
Submersibles
Fons marins -- Mapes
Ocean bottom -- Maps
Algorismes computacionals
Computer algorithms
Títol: Underwater SLAM in a marina environment
Tipus: info:eu-repo/semantics/article
Repositori: Recercat

Matèries

Autors


Warning: Unknown: open(/var/lib/php5/sess_3ee3521d3c30623dc21ee0d20a791ddc, O_RDWR) failed: Read-only file system (30) in Unknown on line 0

Warning: Unknown: Failed to write session data (files). Please verify that the current setting of session.save_path is correct (/var/lib/php5) in Unknown on line 0