DC Field | Value | Language |
---|---|---|
dc.contributor.author | Joe, H. | - |
dc.contributor.author | YU, SON-CHEOL | - |
dc.date.accessioned | 2022-06-23T04:40:38Z | - |
dc.date.available | 2022-06-23T04:40:38Z | - |
dc.date.created | 2022-05-03 | - |
dc.date.issued | 2018-11-09 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/113129 | - |
dc.description.abstract | In this study, we propose two difference sonars based scan matching method for AUV application. One sonar that we used is an acoustic lens-bead multibeam sonar (ALMS) called DIDSON, which scans short-range horizontal information, and another one is a mechanically scanning imaging sonar (MSIS), which scans medium-range vertical profile of the front area of AUV. The data measured in different viewpoints are combined and represented using a probabilistic approach named normal distribution transform (NDT). In addition, there exists a time difference between the two data from the sonars with different ranges, which is utilized to reduce the drift errors. By matching the data with less-accumulated errors and the data with more-accumulated errors, drift errors are reduced, and consistent map is generated. The proposed method and experimental results are presented. © 2018 IEEE. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.relation.isPartOf | 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018 | - |
dc.relation.isPartOf | AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings | - |
dc.title | Submap based Normal Distribution Transform Scan Matching by using Heterogeneous Sonars for AUV Navigation | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.identifier.bibliographicCitation | 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, pp.1 - 6 | - |
dc.citation.conferenceDate | 2018-11-06 | - |
dc.citation.conferencePlace | PO | - |
dc.citation.conferencePlace | University of Porto, Porto, Portugal | - |
dc.citation.endPage | 6 | - |
dc.citation.startPage | 1 | - |
dc.citation.title | 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018 | - |
dc.contributor.affiliatedAuthor | Joe, H. | - |
dc.contributor.affiliatedAuthor | YU, SON-CHEOL | - |
dc.identifier.scopusid | 2-s2.0-85068319133 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
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