The UspIC: Performing Scan Matching Localization Using an Imaging Sonar

Sensors

Antoni Burguera¹  Yolanda Gonzàlez² 

[1] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Ctra. de Valldemossa Km. 7.5, 07122 Palma de Mallorca, Illes Balears, Spain;

关键词: imaging sonar;    underwater robotics;    localization;    scan matching;   

DOI  :  10.3390/s120607855

来源: mdpi

【 摘 要 】

This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the uspIC, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland