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A Comparison of Submaps Registration Methods for Multibeam Bathymetric Mapping
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-1189-6634
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. (RPL/EECS)ORCID iD: 0000-0002-7796-1438
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

On-the-fly registration of overlapping multi-beam images is important for path planning by AUVs per-forming underwater surveys. In order to meet specificationon such things as survey accuracy, coverage and density,precise corrections to the AUV trajectory while underwayare required. There are fast methods for aligning pointclouds that have been developed for robots. We compareseveral state of the art methods to align point clouds oflarge, unstructured, sub-aquatic areas to build a globalmap. We first collect the multibeam point clouds intosmaller submaps that are then aligned using variationsof the ICP algorithm. This alignment step can be appliedif the error in AUV pose is small. It would be the finalstep in correcting a larger error on loop closing where aplace recognition and a rough alignment would precedeit. In the case of a lawn mower pattern survey it would bemaking more continuous corrections to small errors in theoverlap between parallel lines. In this work we comparedifferent methods for registration in order to determinethe most suitable one for underwater terrain mapping. Todo so, we benchmark the current state of the art solutionsaccording to an error metrics and show the results.

Place, publisher, year, edition, pages
2018.
Keywords [en]
SLAM, AUV
National Category
Robotics
Research subject
Vehicle and Maritime Engineering; Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-250894OAI: oai:DiVA.org:kth-250894DiVA, id: diva2:1314051
Conference
2018 IEEE OES Autonomous Underwater Vehicle Symposium
Projects
SMaRC, SSF IRC15-0046
Funder
Swedish Foundation for Strategic Research , IRC15-0046
Note

QC 20190424

Available from: 2019-05-07 Created: 2019-05-07 Last updated: 2019-05-15Bibliographically approved

Open Access in DiVA

fulltext(1477 kB)20 downloads
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Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf