Submap based Normal Distribution Transform Scan Matching by using Heterogeneous Sonars for AUV Navigation
- Title
- Submap based Normal Distribution Transform Scan Matching by using Heterogeneous Sonars for AUV Navigation
- Authors
- Joe, H.; YU, SON-CHEOL
- Date Issued
- 2018-11-09
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- 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.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/113129
- ISSN
- 0000-0000
- Article Type
- Conference
- Citation
- 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, page. 1 - 6, 2018-11-09
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