Underwater Scan Matching using a Mechanical Scanned Imaging Sonar ⋆
نویسندگان
چکیده
Underwater environments are extremely challenging to perform localization. Autonomous Underwater Vehicles (AUV) are usually endowed with acoustic devices such as a Mechanically Scanned Imaging Sonar (MSIS). This sensor scans the environment by emitting ultrasonic pulses and it provides echo intensity profiles of the scanned area. Our goal is to provide self-localization capabilities to an AUV endowed with a MSIS. To this end, this paper proposes a scan matching strategy to estimate the robot motion. This strategy extracts range information from the sensor data, deals with the large scan times and performs a probabilistic data association. The proposal is tested with real data obtained during a trip in a marina environment, and the results show the benefits of our proposal by comparing it to other well known approaches.
منابع مشابه
The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
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 proble...
متن کاملLine Extraction from Mechanically Scanned Imaging Sonar
The extraction of reliable features is a key issue for autonomous underwater vehicle navigation. Imaging sonars can produce acoustic images of the surroundings of the vehicle. Despite of the noise, the phantoms and reflections, we believe that they are a good source for features since they can work in turbid water where other sensors like vision fail. Moreover, they can cover wide areas increme...
متن کاملA Detailed Study of Sonar Tomographic Imaging
Sonar tomography is a technique to obtain a two-dimensional image of an underwater object using a sequence of one-dimensional images, or ‘projections’, of the object of interest. We discuss sonar tomography in a detailed manner and compare the performance of two important ‘back-projection algorithms’ commonly used in tomography. The two processing techniques are applied to the imaging of relati...
متن کاملA Processing Pipeline for Descriptive Underwater 3D Occupancy Mapping with Scanning Sonar
We discuss an approach for 3D mapping using a remotelyoperated vehicle (ROV) in cluttered shallow-water environments where port and harbor infrastructure inspection is of interest. Our goal is to equip the ROV with a mapping method that will support sound decision-making in the process of autonomously exploring a a priori unknown environment with a scanning sonar. This capability will be import...
متن کاملTechnical report: Underwater feature extraction and pillar mapping
A mechanicaly scanned imaging sonar, MSIS, produces a 2D image of the range and bearing of return intensities. The pattern produced in this image depends on the enviormental feature that caused it. These features are very useful for underwater navigation but the inverse mapping of sonar image pattern to environmental feature can be ambiguous. We investigate problems associated with using MSIS f...
متن کامل