Underwater SLAM for structured environments using an imaging sonar
By: David Ribas, Pere Ridao, and José Neira
Contributors: Ridao, Pere; Neira, José
Series: Springer tracts in advanced robotics -- v. 65; Springer tracts in advanced robotics -- v. 65.
Publisher: Springer; Springer Verlag
Published: 2010
Place of publication: Berlin; Heidelberg
Language: eng
Number of pages: 142
ISBN-13: 9783642140396
Subjects: Underwater imaging systems; Remote submersibles; Unbemanntes Unterwasserfahrzeug; Sonar; Datenfusion; Lokalisierung <Robotik>; Automatische Kartierung; Robotik
Notes: Includes bibliographical references (p. 133-142).
Table of contents: title: Introduction; title: State of the art; title: Design and development of the Ictineu AUV; title: Understanding mechanically scanned imaging sonars; title: Localization with an a priori map; title: Simultaneous localization and mapping; title: Conclusion; title: The Kalman filter; title: Correlations in DVL measurements; title: Transformations in 2D.