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SLAM using an Imaging Sonar for Partially Structured Underwater Environments

机译:使用成像声纳的SLAM用于部分结构的水下环境

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摘要

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach
机译:在本文中,我们描述了一种在部分结构化环境(例如水坝,港口或海洋平台)中使用AUV进行水下导航的系统。成像声纳用于获取有关此类环境中存在的平面结构的位置的信息。此信息通过两步过程被整合到基于特征的SLAM算法中:(I)完整的360度声纳扫描不失真(以补偿车辆运动),进行阈值化和分段以确定哪些测量值对应于平面环境特征,哪些应与平面环境特征对应被忽略; (2)一旦获得数据关联,SLAM就继续进行:车辆运动和先前已经确定了正确关联的测量值都被包含在SLAM算法中。这两个步骤的延迟SLAM过程可以在存在大量可能与船,岩石等相对应的虚假或无关测量的情况下,稳健地确定特征和车辆位置。初步实验表明了该方法的可行性

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