Mapping and Visualizing Ancient Water Storage Systems with an ROV -- An Approach Based on Fusing Stationary Scans within a Particle Filter
This paper presents a new method for constructing 2D maps of enclosed un- derwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied...
| Main Author: | |
|---|---|
| Format: | Others |
| Published: |
DigitalCommons@CalPoly
2012
|
| Subjects: | |
| Online Access: | https://digitalcommons.calpoly.edu/theses/885 https://digitalcommons.calpoly.edu/cgi/viewcontent.cgi?article=1933&context=theses |