Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar

被引：2
|
作者：
Zhang, Tiedong [1 ]
Zeng, Wenjing [1 ]
Wan, Lei [1 ]
机构：
[1] Harbin Engn Univ, Natl Key Lab Technol Autonomous Underwater Vehicl, Harbin 150001, Heilongjiang, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND APPLICATION | 2011年 / 10卷 / 03期
基金：
中国国家自然科学基金;
关键词：
simultaneous localization and mapping (SLAM); looking forward sonar; extended Kalman filter (EKF);
D O I：
10.1007/s11804-011-1082-1
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：
A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions. In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigation error.
引用
收藏
页码：371 / 376
页数：6
相关论文
共 50 条
  • [41] A prior-knowledge-based threshold segmentation method of forward-looking sonar images for underwater linear object detection
    Liu, Lixin
    Bian, Hongyu
    Yagi, Shin-ichi
    Yang, Xiaodong
    [J]. JAPANESE JOURNAL OF APPLIED PHYSICS, 2016, 55 (07)
  • [42] Detection of the moving targets of forward-looking sonar based on background elimination method
    Cui, Jie
    Hu, Changqing
    Xu, Haidong
    [J]. 2018 IEEE INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, COMMUNICATIONS AND COMPUTING (ICSPCC), 2018,
  • [43] Target Detection and Parameter Recognition for The Crawling Submersible Based on Forward-looking Sonar
    Xian, Yan
    Gao, Li'e
    Li, Le
    Zhang, Wenbo
    Liu, Weidong
    [J]. PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS), 2020, : 846 - 851
  • [44] NSCT-based fusion method for forward-looking sonar image mosaic
    Zhang, Jian
    Sohel, Ferdous
    Bennamoun, Mohammed
    Bian, Hongyu
    An, Senjian
    [J]. IET RADAR SONAR AND NAVIGATION, 2017, 11 (10): : 1512 - 1522
  • [45] Experimental Evaluation of a Forward-Looking Sonar-Based System for Acoustic Odometry
    Franchi, Matteo
    Ridolfi, Alessandro
    Zacchini, Leonardo
    Allotta, Benedetto
    [J]. OCEANS 2019 - MARSEILLE, 2019,
  • [46] Occupancy Grid-Based AUV SLAM Method with Forward-Looking Sonar
    Mu, Xiaokai
    Yue, Guan
    Zhou, Nan
    Chen, Congcong
    [J]. JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2022, 10 (08)
  • [47] CycleGAN-based realistic image dataset generation for forward-looking sonar
    Liu, Dingyu
    Wang, Yusheng
    Ji, Yonghoon
    Tsuchiya, Hiroshi
    Yamashita, Atsushi
    Asama, Hajime
    [J]. ADVANCED ROBOTICS, 2021, 35 (3-4) : 242 - 254
  • [48] Acoustic Image Models for Obstacle Avoidance with Forward-Looking Sonar
    Masek, T.
    Koelsch, M.
    [J]. ACOUSTICAL IMAGING, VOL 30, 2011, 30 : 251 - 259
  • [49] Forward-Looking Sonar Image Registration using Polar Transform
    Zhang, Jian
    Sohel, Ferdous
    Bian, Hongyu
    Bennamoun, Mohammed
    An, Senjian
    [J]. OCEANS 2016 MTS/IEEE MONTEREY, 2016,
  • [50] Update for Argos Software Collaboration Enhances Forward-Looking Sonar
    Henley, Heath
    [J]. SEA TECHNOLOGY, 2022, 63 (03) : 10 - 14
12345