Weighted Grid Partitioning for Panel-Based Bathymetric SLAM

Jang, Junwoo; Kim, Jinwhan

doi:10.1109/oceanse.2019.8867531

Cited by 2 publications

(1 citation statement)

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“…3. Dynamic grid adaptation (DGA) and WGP have been proposed based on the state probability distribution [28], [29] to address this data association. DGA determines the panel size to include the area of all confidence intervals of a vehicle's position so that the actual vehicle must be located in the updated panel.…”

Section: Update In Ekf-slam Filtermentioning

confidence: 99%

Topographic SLAM Using a Single Terrain Altimeter in GNSS-Restricted Environment

Jang

Kim

2022

IEEE Access

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In a Global Navigation Satellite System (GNSS)-restricted area, a mobile robot navigation system exploits surrounding environment information. For an aerial or underwater vehicle, undulating terrain of a land or seabed surface is a valuable information resource that leads to the development of terrain-referenced navigation (TRN) algorithms. However, due to the vast amount of a vehicle's activity area, surveying all the regions to obtain a high-resolution terrain map is impractical and requires simultaneous localization and mapping (SLAM) as a highly desirable capability. This paper presents a topographic SLAM algorithm using only a single terrain altimeter, which is low-cost, computationally efficient, and sufficiently stable for long-term operation. The proposed rectangular panel map structure and update method enable robust and efficient SLAM. As terrain elevation changes are inherently nonlinear, an extended Kalman filter (EKF)-based SLAM filter is adopted. The feasibility and validity of the proposed algorithm are demonstrated through simulations using terrain elevation data from a real-world undersea environment.

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Section: Update In Ekf-slam Filtermentioning

confidence: 99%