EKF-SLAM for AUV navigation under probabilistic sonar scan-matching

This paper proposes a pose-based algorithm to solve the full Simultaneous Localization And Mapping (SLAM) problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. A probabilistic scan matching technique using range scans gathered from a Mech...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Mallios, A, Ridao, P, Ribas, D, Maurelli, F, Petillot, Y
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Acoustic beams Acoustics Simultaneous localization and mapping Sonar Uncertainty Vehicles
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