Side Scan Sonar Based Onboard SLAM System for Autonomous Underwater Vehicles

被引：0
|
作者：
Siantidis, Konstantinos [1 ]
机构：
[1] ATLAS ELEKT GmbH, Bremen, Germany
来源：
2016 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES (AUV) | 2016年
关键词：
LOCALIZATION;
D O I：
暂无
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
This paper describes a Simultaneous Localization and Mapping (SLAM) system suitable for an autonomous underwater vehicle (AUV) equipped with a dead reckoning system and a side scan sonar (SSS). The system was developed with the intention to compensate position drifts of an AUV navigation system during a mission. The processing chain consists of an automatic landmark detector, an automatic data association module and the SLAM filter. This paper presents results showing that our onboard SLAM approach successfully reduces navigational drifts.
引用
收藏
页码：195 / 200
页数：6
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