Laser Stripe Bathymetry using Particle Filter SLAM

被引：3

作者：

Massot-Campos, Miquel ^{[1
,2
]}

Oliver-Codina, Gabriel ^{[1
]}

Thornton, Blair ^{[2
]}

机构：

[1] Univ Balearic Isl, Dept Math & Comp Sci, Illes Balears 07122, Spain

[2] Univ Southampton, Engn & Phys Sci, Southampton SO17 1BJ, Hants, England

来源：

OCEANS 2019 - MARSEILLE | 2019年

关键词：

Bathymetric SLAM; Underwater reconstruction; Underwater robots;

D O I：

10.1109/oceanse.2019.8867106

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper presents a novel application of BPSLAM from Barkby et al [1], onto underwater laser mapping. BPSLAM is a featureless bathymetry mapping algorithm that uses Distributed Particle Mapping and a Rao-Backwelized Particle Filter (RBPF) to handle both navigational estimates and seafloor bathymetry estimates. By weighting the particles in the RBPF with the most self-consistent map, the bathymetric maps and the robot navigation are corrected.

引用

页数：7

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