Abstract
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.
Highlights
Thanks to recent technological advances, the sub-aquatic world is more accessible for exploration, scientific research and industrial activity
This paper presents a novel approach to localize an underwater mobile robot
When used to perform scan matching, these sensors present two important problems. They provide echo intensity profiles instead of the sets of range measurements required in the scan matching context
Summary
Thanks to recent technological advances, the sub-aquatic world is more accessible for exploration, scientific research and industrial activity. Operated Vehicles (ROVs) are commonly used in a variety of applications such as surveying, scientific sampling, rescue operations or infrastructure inspection and maintenance. Improving the sensorial capabilities of underwater vehicles is a key point to increase the variety and the feasibility of missions that can be carried out by ROVs and AUVs. Improving the sensorial capabilities of underwater vehicles is a key point to increase the variety and the feasibility of missions that can be carried out by ROVs and AUVs Optical sensors, such as laser range finders or cameras, can provide dense information updated at high speed and they are commonly used in many terrestrial and aerial robotic applications [1,2,3,4]. Non-uniform lighting and shadows, colour filtering or suspended particles are frequent difficulties when using optical sensors underwater [5]
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