The UspIC: Performing Scan Matching Localization Using an Imaging Sonar

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 <em>Mechanically Scanned Imaging Sonar</em> (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the mea...

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Bibliographic Details
Main Authors: Antoni Burguera, Gabriel Oliver, Yolanda González
Format: Article
Language:English
Published: MDPI AG 2012-06-01
Series:Sensors
Subjects:
imaging sonar
underwater robotics
localization
scan matching
Online Access:http://www.mdpi.com/1424-8220/12/6/7855

Internet

http://www.mdpi.com/1424-8220/12/6/7855

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