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Navigation using 3D features from side-scan sonar data for a deep-sea AUV

: Woock, Philipp

Volltext urn:nbn:de:0011-n-2125196 (881 KByte PDF)
MD5 Fingerprint: bb7610340b30a237491c52c34e5d4679
Erstellt am: 6.9.2012

Beyerer, Jürgen (Hrsg.); Pak, Alexey (Hrsg.) ; Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung -IOSB-, Karlsruhe; Karlsruhe Institute of Technology -KIT-, Lehrstuhl für Interaktive Echtzeitsysteme -IES-:
Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory 2011. Proceedings : Triberg-Nussbach, Germany. From July, 17 to July, 22
Karlsruhe: KIT Scientific Publishing, 2012 (Karlsruher Schriften zur Anthropomatik 11)
ISBN: 978-3-86644-855-1
Fraunhofer Institute of Optronics, System Technologies and Image Exploitation and Institute for Anthropomatics, Vision and Fusion Laboratory (Joint Workshop) <2011, Triberg-Nussbach>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

Simultaneous navigation and mapping (SLAM) of an autonomous underwater vehicle (AUV) based on side-scan sonar data has significant peculiarities that make standard SLAM techniques inapplicable. In particular, recognition of already visited places (loop closure) which is an important tool improving the navigation accuracy cannot be done with the raw sonar data. This and other navigation tasks can be more conveniently performed based on the 3D seafloor shape (elevation map). In this report we first present an extension of a well-known sonar data reconstruction method to account for nontrivial AUV motion, and then discuss various algorithms useful in the context of SLAM processing elevation data.