Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter

Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter

Robust and accurate estimation of position and attitude of a UUV (Unmanned Underwater Vehicle) from sonar scans is essential for simultaneous localization and mapping (SLAM). Both dead-reckoning based on the inertial navigation system and the motion parameter estimation based on the registration of...

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Bibliographic Details
Main Authors: Min Jiang, Sanming Song, J. Michael Herrmann, Ji-Hong Li, Yiping Li, Zhiqiang Hu, Zhigang Li, Jian Liu, Shuo Li, Xisheng Feng
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Forward-looking sonar
intensity projection histogram
PHD filter
polar gradient matrix
underwater loop-closure detection
Online Access:https://ieeexplore.ieee.org/document/8903570/

Internet

https://ieeexplore.ieee.org/document/8903570/

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