Experiments on Localization of an AUV Using Graph-Based SLAM

被引：0
|
作者：
Lee, Donghwa [1 ]
Kim, Donghoon [1 ]
Lee, Sangwon [1 ]
Myung, Hyun [1 ]
Choi, Hyun-Taek [2 ]
机构：
[1] Korea Adv Inst Sci & Technol, Urban Robot Lab, Taejon 305701, South Korea
[2] KIOST, Taejon 305343, South Korea
来源：
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年
关键词：
underwater localization; AUV; SLAM; EKF-based SLAM; graph-based SLAM;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKE-based SLAM result.
引用
收藏
页码：526 / +
页数：2
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