Panel-based bathymetric SLAM with a multibeam echosounder

Taeyun Kim, Jinwhan Kim
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引用次数: 3

Abstract

A bathymetric Simultaneous Localization and Mapping (SLAM) algorithm is presented which is capable of mapping elevation changes in undulating seabed terrain and simultaneously localizing the vehicles position relative to the constructed terrain elevation map. The algorithm enables to marine vehicles navigate and build a map autonomously in a GPS-denied environment. In the proposed formulation, the terrain elevation is represented using a number of rectangular surface panels, and the elevation vectors at four corners of every panel are introduced into map states in the SLAM filter. Experimental results are presented using a underwater surface vehicle (USV) equipped with a multibeam echosounder (MBE) to verify and demonstrate the performance of the proposed algorithm.
带有多波束回声测深仪的面板式测深SLAM
提出了一种同时定位与制图(SLAM)算法,该算法能够对起伏的海底地形高程变化进行制图,并同时定位车辆相对于地形高程图的位置。该算法使船舶能够在没有gps的环境中自主导航和绘制地图。在该方法中,地形高程用多个矩形面板表示,每个面板四角的高程矢量被引入SLAM滤波器的地图状态中。实验结果验证了该算法的有效性,并在水下水面航行器(USV)上安装了多波束回声测深仪(MBE)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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