Results 11 - 20
of
20
Improved Data Association for ICP-based Scan Matching in Noisy and Dynamic Environments
"... Abstract — This paper presents a technique to improve the data association in the Iterative Closest Point [2] based scan matching. The method is based on a distance-filter constructed on the basis of an analysis of the set of solutions produced by the associations in the sensor configuration space. ..."
Abstract
-
Cited by 2 (0 self)
- Add to MetaCart
(Show Context)
Abstract — This paper presents a technique to improve the data association in the Iterative Closest Point [2] based scan matching. The method is based on a distance-filter constructed on the basis of an analysis of the set of solutions produced by the associations in the sensor configuration space. This leads to a robust strategy to filter all the associations that do not explain the principal motion of the scan (due to noise in the sensor, large odometry errors, spurious, occlusions or dynamic features for example). The experimental results suggest that the improvement of the data association leads to more robust and faster methods in the presence of wrong correspondences. I.
Probabilistic Sonar Scan Matching for an AUV
"... Abstract — This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using ..."
Abstract
-
Cited by 1 (0 self)
- Add to MetaCart
(Show Context)
Abstract — This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. An Extended Kalman Filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600m path within an abandoned marina underwater environment with satisfactory results. I.
DRAFT VERSION 1 Local modeling of dynamic environments for navigation purposes
"... This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information within a real sensor-based navigation system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static struc ..."
Abstract
- Add to MetaCart
(Show Context)
This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information within a real sensor-based navigation system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static structure in such a way that the nature (static/dynamic) of the observations is included in the estimation process. This is achieved by a set of filters tracking the moving objects and a map of the static structure constructed on line. In addition, this paper discusses how this modeling module is integrated in a real sensor-based navigation system taking advantage selectively of the dynamic and static information. The experimental results confirm that the complete navigation system is able to move a vehicle in unknown and dynamic scenarios. Furthermore, the system overcomes many of the limitations of previous systems associated to the ability to distinguish the nature of the parts of the scenario. I.
• Input:
"... Censi • Based on the analysis of the error function. • Advantages over previous approaches: – It does not assume independent point correspondences. – Measurements can be correlated. – Both accurate and fast (closed form). ..."
Abstract
- Add to MetaCart
Censi • Based on the analysis of the error function. • Advantages over previous approaches: – It does not assume independent point correspondences. – Measurements can be correlated. – Both accurate and fast (closed form).
Source Localization and
"... Distributed sensor networks have been proposed for a wide range of applications. The main purpose of a sensor network is to monitor an area, including detecting, identifying, localizing, and tracking one or more objects of interest. These networks may be used by the military in surveillance, reconna ..."
Abstract
- Add to MetaCart
(Show Context)
Distributed sensor networks have been proposed for a wide range of applications. The main purpose of a sensor network is to monitor an area, including detecting, identifying, localizing, and tracking one or more objects of interest. These networks may be used by the military in surveillance, reconnaissance, and combat scenarios or around the perimeter of a manufacturing plant for intrusion detection. In other applications such as hearing aids and multimedia, microphone networks are capable of enhancing audio signals under noisy conditions for improved intelligibility, recognition, and cuing for camera aiming. Recent developments in integrated circuit technology have allowed the construction of low-cost miniature sensor nodes with signal processing and wireless communication capabilities. These technological advances not only open up many possibilities but also introduce challenging issues for the collaborative processing of wideband acoustic and seismic signals for source localization and beamforming in an energy-constrained distributed sensor network. The purpose of this article is to provide an overview of these issues.
Auton Robot
, 2007
"... Modeling dynamic scenarios for local sensor-based motion planning ..."
(Show Context)
Probabilistic Approaches for Intelligent AUV Localisation
, 2014
"... thesis or use of any of the information contained in it must acknowledge this thesis as the source of the quotation or information. This thesis studies the problem of intelligent localisation for an autonomous un-derwater vehicle (AUV). After an introduction about robot localisation and specific iss ..."
Abstract
- Add to MetaCart
(Show Context)
thesis or use of any of the information contained in it must acknowledge this thesis as the source of the quotation or information. This thesis studies the problem of intelligent localisation for an autonomous un-derwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison among different tech-niques. Then, it will develop active techniques, which require intelligent decisions about the steps to undertake in order for the AUV to localise itself. The undertaken methodology consisted in three stages: theoretical analysis of the problem, tests with a simulation environment, integration in the robot architecture and field trials. The conclusions highlight applications and scenarios where the developed techniques have been successfully used or can be potentially used to enhance the results given by cur-rent techniques. The main contribution of this thesis is in the proposal of an active localisation module, which is able to determine the best set of action to be executed,
Instrumentation Viewpoint 8 32m3 POSE-bASED SLAm wITH PRObAbILISTIC SCAN mATCHING ALGORITHm USING A mECHANICAL SCANNED ImAGING SONAR
"... Abstract- This paper proposes a pose-based algorithm to solve the full SLAM prob-lem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanned I ..."
Abstract
- Add to MetaCart
(Show Context)
Abstract- This paper proposes a pose-based algorithm to solve the full SLAM prob-lem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanned Imaging Sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler Ve-locity Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600m path within a marina environment, showing the viability of the proposed approach.
Pose-based GraphSLAM Algorithm for Robotic Fish with a Mechanical Scanning Sonar
"... algorithm for robotic fish equipped with a Mechanical Scanning Sonar (MSS) that has a low frequency of range readings. The main contribution of this paper is the construction of a pose graph as the front-end part of the normal GraphSLAM algorithm. The proposed algorithm has three stages as fol-lows: ..."
Abstract
- Add to MetaCart
(Show Context)
algorithm for robotic fish equipped with a Mechanical Scanning Sonar (MSS) that has a low frequency of range readings. The main contribution of this paper is the construction of a pose graph as the front-end part of the normal GraphSLAM algorithm. The proposed algorithm has three stages as fol-lows: 1) scan generation which incorporates a novel Extended Kalman Filter (EKF) based algorithm that takes the fish motion into account; 2) data association which is based on Mahanalobis distance and shape matching for determining loop closures; 3) scan matching which is for constraints calculation and pose graph construction. The constructed pose graph is then fed into a back-end optimizer- g2o for finding the optimal position of robotic fish. The viability and the accuracy of the proposed algorithm are verified by extensive simulations, compared with the dead reckoning and scan matching approaches. I.
An Information Theoretic Framework for Camera and Lidar Sensor Data Fusion and its Applications in Autonomous Navigation of Vehicles
, 2014
"... It has been five years when I boarded that flight to DTW (a completely different world) to follow my dreams of getting a PhD. Since then it’s been a journey full of learning and I have tried to soak in as much knowledge as I could. As I stand at the end of this road, I would like to thank those who ..."
Abstract
- Add to MetaCart
(Show Context)
It has been five years when I boarded that flight to DTW (a completely different world) to follow my dreams of getting a PhD. Since then it’s been a journey full of learning and I have tried to soak in as much knowledge as I could. As I stand at the end of this road, I would like to thank those who are an integral part of this beautiful journey. First of all I would like to thank my supervisor Ryan Eustice for his excellent guidance and support throughout my graduate studies. I really appreciate his patience to discuss and explain even the most trivial questions that I have asked him several times. He always had time to meet and discuss any problem. He always made sure that I am making progress and always guided me towards the right path. Thanks Ryan for always keeping me on track by your formula of “Must, Should and Would be nice”. I will remember this mantra of success for the rest of my life. Next I would like to thank my co-advisor Silvio Savarese for his invaluable inputs on my research. Those weekly meetings helped me to stay focused and steadily progress towards my goal. I would also like to thank my committee members Alfred Hero and Honglak Lee for their valuable suggestions at times.
