Directed Sonar Sensing for Mobile Robot Navigation

Leonard, John J.; Durrant‐Whyte, Hugh

doi:10.1007/978-1-4615-3652-9

Cited by 636 publications

(322 citation statements)

References 102 publications

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“…Owing to the uncertainty produced by the horizontal beamwidth, a measurement cannot be assigned to a single point in the space. A common approach (Leonard & Durrant-Whyte, 1992;Tardós et al, 2002) is to consider the measurement as an arc whose aperture represents the beamwidth uncertainty. Moreover, as a high-intensity return is typically produced when the acoustic wave hits a surface perpendicularly, we can infer that all the surfaces tangent to the arc can explain the high-intensity return.…”

Section: Voting Methods For Line Detectionmentioning

confidence: 99%

Underwater SLAM in man‐made structured environments

Ribas

Ridao

Tardós

et al. 2008

Journal of Field Robotics

172

115

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This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas, and marine platforms. A mechanically scanned imaging sonar is used to obtain information about the location of vertical planar structures present in such environments. A robust voting algorithm has been developed to extract line features, together with their uncertainty, from the continuous sonar data flow. The obtained information is incorporated into a feature-based simultaneous localization and mapping (SLAM) algorithm running an extended Kalman filter. Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Moreover, a procedure to build and maintain a sequence of local maps and to posteriorly recover the full global map has been adapted for the application presented. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach. C 2008 Wiley Periodicals, Inc.

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Section: Voting Methods For Line Detectionmentioning

confidence: 99%

Underwater SLAM in man‐made structured environments

Ribas

Ridao

Tardós

et al. 2008

Journal of Field Robotics

172

115

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“…Das Lokalisierungsproblem von Mobilrobotern wurde schon früh mittels des EKF und Merkmalen aus Tiefendaten angegangen [8] [9] und wird heute an vielen Orten eingesetzt, z.B. [6] [1].…”

Section: Introductionunclassified

Sensordatenfusion zur Robusten und Präzisen EKF Lokalisierung von Mobilen Robotern

Arras

Tomatis

2000

Informatik Aktuell

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“…On the other hand, the uncertainty from the horizontal beamwidth is not implicitly represented in the resulting data. Typically, in order to represent this uncertainty, each bin can be described as an arc showing all the possible locations of tangent surfaces producing compatible sonar returns [8], [9]. While this simple model is well suited for air sonar ranging systems, it is not able to explain the acoustic images gathered with a MSIS.…”

Section: Sonar Modelingmentioning

confidence: 99%

Line Extraction from Mechanically Scanned Imaging Sonar

Ribas

Ridao

Neira

et al.

Pattern Recognition and Image Analysis

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Abstract. The extraction of reliable features is a key issue for autonomous underwater vehicle navigation. Imaging sonars can produce acoustic images of the surroundings of the vehicle. Despite of the noise, the phantoms and reflections, we believe that they are a good source for features since they can work in turbid water where other sensors like vision fail. Moreover, they can cover wide areas incrementing the number of features visible within a scan. This work presents an algorithm to extract linear features from underwater structured environments including as major contributions a novel sonar model sensor and an adapted implementation of the Hough transform.

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Directed Sonar Sensing for Mobile Robot Navigation

Cited by 636 publications

References 102 publications

Underwater SLAM in man‐made structured environments

Underwater SLAM in man‐made structured environments

Sensordatenfusion zur Robusten und Präzisen EKF Lokalisierung von Mobilen Robotern

Line Extraction from Mechanically Scanned Imaging Sonar

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