Underwater sonar data fusion using an efficient multiple hypothesis algorithm

Leonard, John J.; Moran, B.A.; Cox, Ingemar J.; Miller, M.L.

doi:10.1109/robot.1995.525709

Cited by 20 publications

(6 citation statements)

References 15 publications

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“…In this section, we examine the relationships of the proposal using a closer approach developed by Leonard et al (1995), which is based on the multiple hypothesis method and was initially proposed by Reid (1979) for underwater navigation vehicles. Indeed, similar to our study, several state models consisting of the two basic pieces of the environment-wall and corner-have been elaborated.…”

Section: Discussion Of Alternative Approachesmentioning

confidence: 99%

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Suboptimal Multiple Model Filter for Mobile Robot Localization

Oussalah

2001

The International Journal of Robotics Research

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The problem of mobile robot localization by using sensor information appeals to different communities since the need for accurate position has become crucial for many robot subtasks. The Kalman filter (KF) has been acknowledged as an appropriate tool for a suitable dynamic combination of the different measurements using the state and measurement models. However, when there are discrete uncertainties about the models, without additional restrictions, the performance of KF degrades drastically as the predicted estimate tends to be updated by a wrong measurement. This paper focuses on a suboptimal multiple model filter to deal with the associated measurement/model. Experimental and simulated results are achieved, which prove the feasibility of the proposal. The experimental setup consists of a structured environment constituted of elementary features such as walls and corners, while a possibly unmodeled obstacle may be encountered. The robot is equipped with odometry and a set of ultrasonic sensors.

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Section: Discussion Of Alternative Approachesmentioning

confidence: 99%

“…In Section 6, some experimental and simulated results are provided and discussed. Finally, general discussions are pointed out in comparison to the approach developed by Leonard et al (1995).…”

Section: Introductionmentioning

confidence: 99%

Suboptimal Multiple Model Filter for Mobile Robot Localization

Oussalah

2001

The International Journal of Robotics Research

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“…Leonard and Durrant-Whyte developed a map representation using "geometric beacons," corresponding to corners extracted from a sonar signature [15]. Other work has examined similar features in outdoor settings, and underwater [16], [17].…”

Section: Related Workmentioning

confidence: 99%

Landmark Selection for Vision-Based Navigation

et al. 2006

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Recent work in the object recognition community has yielded a class of interest-point-based features that are stable under significant changes in scale, viewpoint, and illumination, making them ideally suited to landmark-based navigation. Although many such features may be visible in a given view of the robot's environment, only a few such features are necessary to estimate the robot's position and orientation. In this paper, we address the problem of automatically selecting, from the entire set of features visible in the robot's environment, the minimum (optimal) set by which the robot can navigate its environment. Specifically, we decompose the world into a small number of maximally sized regions, such that at each position in a given region, the same small set of features is visible. We introduce a novel graph theoretic formulation of the problem, and prove that it is NP-complete. Next, we introduce a number of approximation algorithms and evaluate them on both synthetic and real data. Finally, we use the decompositions from the real image data to measure the localization performance versus the undecomposed map.

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“…Applications of ultrasound transducers range from underwater sonars [3][4][5] to medical imaging and biomedical applications [6]. In the case of sonars, the acoustic signal has low frequency and can reach several tens of kilometers.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, medical imaging works with higher frequencies, reaching hundreds of MHz, with signals reaching just few centimeters. This technology shows an interesting and useful gap concerning underwater applications, as there are no specific transducers for wireless broadband communications [3][4][5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Optimization of piezoelectric ultrasound emitter transducers for underwater communications

Martins

Correia

Cabral

et al. 2012

Sensors and Actuators A: Physical

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Ultrasound transducers are typically based on piezoelectric materials, due to their good response at high frequencies. Depending on the application, ceramics, polymers and composite materials can be used. In this work, an optimization study of ultrasound transducers for underwater communications is addressed, focusing on a piston type emitter transducer operating in thickness mode (d 33). The piston is constituted by an active element disk with optimized dimensions. It is discussed how the acoustic impedance, thickness, resonance frequency and structure affect the transducer performance. This work allows a better understanding of the emitter transducer characteristics allowing reaching the optimum point of operation for specific applications. Focusing on underwater communication, the acoustic channel is defined and the transducer is optimized by finite element computer simulations. The results were compared with experimental tests, which show that four-layer structures increase up to 16 dB in performance versus single-layer.

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Underwater sonar data fusion using an efficient multiple hypothesis algorithm

Cited by 20 publications

References 15 publications

Suboptimal Multiple Model Filter for Mobile Robot Localization

Suboptimal Multiple Model Filter for Mobile Robot Localization

Landmark Selection for Vision-Based Navigation

Optimization of piezoelectric ultrasound emitter transducers for underwater communications

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