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E-book
Author Ribas, David, author

Title Underwater SLAM for structured environments using an imaging sonar / David Ribas, Pere Ridao, and José Neira
Published Berlin ; Heidelberg : Springer, [2010]
©2010
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Description 1 online resource (xx, 142 pages) : illustrations (some color)
Series Springer tracts in advanced robotics ; volume 65
Springer tracts in advanced robotics ; v. 65
Contents Introduction -- State of the art -- Design and development of the Ictineu AUV -- Understanding mechanically scanned imaging sonars -- Localization with an a priori map -- Simultaneous localization and mapping -- Conclusion -- The Kalman filter -- Correlations in DVL measurements -- Transformations in 2D
Summary This monograph presents different techniques developed with the objective of providing a solution to the navigation problem for Autonomous Underwater Vehicles (AUVs) operating in structured environments, with special attention to localization techniques but, particularly, to the application of SLAM (Simultaneous Localization And Mapping) techniques as a self-contained system which requires neither previous knowledge of the scenario nor the use of absolute positioning systems like GPS, LBL or USBL. This monograph presents techniques for feature extraction capable of dealing with the particular complexities of a mechanically scanned imaging sonar. The described approaches are designed for use in structured environments like those present in many industrial scenarios, specifically for scenarios containing manmade structures in the form of rectilinear walls like those met in harbours, breakwaters, marinas, canal systems, etc
Bibliography Includes bibliographical references
Notes Print version record
Subject Underwater imaging systems.
Remote submersibles.
Sonar.
Form Electronic book
Author Ridao, Pere, author
Neira, José, author
LC no. 2010929358
ISBN 3642140408 (electronic book)
9783642140402 (electronic book)
(cloth)
(cloth)