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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
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung and Institute for Anthropomatics, Vision and Fusion Laboratory (Joint Workshop) <2010, La Bresse>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

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.