基于图形SLAM的水下航行器定位实验

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677329

Donghwa Lee, Donghoon Kim, Sangwon Lee, H. Myung, Hyun-Taek Choi

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引用次数: 16

摘要

本文介绍了基于图的同时定位与映射(SLAM)技术在自主水下航行器(AUV)视觉定位中的应用实验。根据图像处理结果得到各地标的相对距离和方位值。利用水下航行器的地标检测结果和航位推算数据，构建了水下航行器的图结构。采用基于图的SLAM算法对结构化图进行优化。最后，将基于图的SLAM的性能与基于ekf的SLAM结果进行比较。

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Experiments on localization of an AUV using graph-based SLAM

This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKF-based SLAM result.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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