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A Feature Based Navigation System for an Autonomous Underwater Robot
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (CAS)ORCID iD: 0000-0002-7796-1438
MIT. (CSAIL)
MIT. (CSAIL)
MIT.
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2008 (English)In: Field And Service Robotics: Results Of The 6th International Conference / [ed] Laugier, C; Siegwart, R, Springer Berlin/Heidelberg, 2008, Vol. 42, 105-114 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present a system for autonomous underwater navigation as implemented on a Nekton Ranger autonomous underwater vehicle, AUV. This is one of the first implementations of a practical application for simultaneous localization and mapping on an AUV. Besides being an application of real-time SLAM, the implemtation demonstrates a novel data fusion solution where data from 7 sources are fused at different time scales in 5 separate estimators. By modularizing the data fusion problem in this way each estimator can be tuned separately to provide output useful to the end goal of localizing the AUV, on an a priori map. The Ranger AUV is equipped with a BlueView blazed array sonar which is used to detect features in the underwater environment. Underwater testing results are presented. The features in these tests are deployed radar reflectors.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2008. Vol. 42, 105-114 p.
Series
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 42
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-38258DOI: 10.1007/978-3-540-75404-6_10ISI: 000256879200010ISBN: 978-3-540-75403-9 (print)OAI: oai:DiVA.org:kth-38258DiVA: diva2:436446
Conference
6th International Conference on Field and Service Robotics Location: Chamonix, France Date: JUL 09-12, 2007
Note

QC 20110830

Available from: 2011-08-23 Created: 2011-08-23 Last updated: 2016-02-17Bibliographically approved

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