The UspIC: Performing Scan Matching Localization Using an Imaging Sonar

Authors Antoni Burguera Burguera | Yolanda González Cid | Gabriel Oliver Codina
In Sensors, MDPI, vol. 12, no. 6, pp. 7855-7885, 2012.


This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the uspIC, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided.

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