Sonar-based AUV localization using an improved particle filter approach

This paper presents a sonar-based localization approach for an autonomous underwater vehicle, valid both in structured and unstructured environments. The presented system is based on a particle filter approach to represent the vehicle state. It uses a mechanical scanning imaging sonar, as the main s...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Maurelli, F., Petillot, Y., Mallios, A., Ridao, P., Krupinski, S.
Format:	Tagungsbericht
Sprache:	eng ; jpn
Schlagworte:	Computational complexity Image sensors Mechanical sensors Particle filters Remotely operated vehicles Robustness Sonar State-space methods Testing Underwater vehicles
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