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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2012-06-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/12/6/7855 |
| Summary: | 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 measurements or large scan times, which lead to a motion induced distortion. This paper presents the <em>uspIC</em>, 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. |
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| ISSN: | 1424-8220 |