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Instrumentation Viewpoint 8 32m3 POSE-bASED SLAm wITH PRObAbILISTIC SCAN mATCHING ALGORITHm USING A mECHANICAL SCANNED ImAGING SONAR
BibTeX
@MISC{Mallios_instrumentationviewpoint,
author = {Angelos Mallios and Pere Ridao and Emili Hernández and David Ribas},
title = {Instrumentation Viewpoint 8 32m3 POSE-bASED SLAm wITH PRObAbILISTIC SCAN mATCHING ALGORITHm USING A mECHANICAL SCANNED ImAGING SONAR},
year = {}
}
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Abstract
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.
