Underwater Localization using Probabilistic Sonar Registration and Pose Graph Optimization

Authors Antoni Burguera Burguera
In IEEE OES Autonomous Underwater Vehicle Symposium, Porto (Portugal), 2018.


This study is focused on a novel approach to perform underwater robot localization using sonar sensors. The approach is divided in three main steps. First, the sonar data is used to build probabilistic point clouds. Second, these point clouds are registered and a pose graph is constructed. Finally, the pose graph is optimized and a globally consistent map is built. The experimental results evaluate the proposal using real data gathered by an Autonomous Underwater Vehicle.

RELATED PROJECTS

Uso de cookies

Este sitio web utiliza cookies para que usted tenga la mejor experiencia de usuario. Si continúa navegando está dando su consentimiento para la aceptación de las mencionadas cookies y la aceptación de nuestra política de cookies, pinche el enlace para mayor información.

ACEPTAR