Author:
Leonard John L.,Carpenter Robert N.,Feder Hans Jacob S.
Abstract
This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of
an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and localization
algorithms to satisfy the navigation requirements of undersea vehicles equipped with forward look sonar.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
27 articles.
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