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Side-scan sonar based SLAM for the deep sea

 
: Woock, P.

:
Postprint urn:nbn:de:0011-n-1568931 (822 KByte PDF)
MD5 Fingerprint: 332aa858b407fcb7f1a05f4ca7aa02f5
Erstellt am: 29.3.2011


Beyerer, J.; Huber, M.:
Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory 2010. Proceedings : Was held in La Bresse, France, from July 19 to July 23, 2010
Karlsruhe: KIT Scientific Publishing, 2011 (Karlsruher Schriften zur Anthropomatik 7)
ISBN: 978-3-86644-609-0
S.63-74
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung and Institute for Anthropomatics, Vision and Fusion Laboratory (Joint Workshop) <2010, La Bresse>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

Abstract
In order to robustly perform SLAM (Simultaneous Localization and Mapping), places need to be recognized when they are visited again. In the deep-sea environment SLAM-assisted navigation based on side-scan sonar data benefits from using three-dimensional features of the environment as they are much less view-dependent than classic 2D features. Obtaining these features requires processing of the sonar data as the side-scan sonar sensor readings contain three dimensional information only indirectly. To extract that information the ensonification process needs to be inverted. This inversion is an ill-posed inverse problem and therefore regularization is needed before a unique solution can be found. Once the true seabed shape is reconstructed, wide area SLAM techniques can be applied.

: http://publica.fraunhofer.de/dokumente/N-156893.html