Sonar scan matching for simultaneous localization and mapping in confined underwater environments
This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping(SLAM) framework
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| Format: | doctoral thesis |
| Status: | Published version |
| Publication Date: | 2014 |
| Country: | España |
| Institution: | CBUC, CESCA |
| Repository: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/134727 |
| Online Access: | http://hdl.handle.net/10803/134727 |
| Access Level: | Open access |
| Keyword: | Underwater robotics Robòtica submarina Robótica submarina Localization Localització Localización Mapping Mapeig Mapeo Sonar Sound navigation and ranging 62 68 |
| Summary: | This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping(SLAM) framework |
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