Abstract
This paper applies a new constant-time, consistent and convergent Simultaneous Localization and Mapping (SLAM) algorithm to synthetic aperture sonar (SAS) data acquired by an autonomous underwater vehicle (AUV). Using a novel target detection strategy, data gathered from a 40 minute survey is processed and the results compared to both a ground truth and the “gold standard” quadratic time full covariance SLAM algorithm.
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© 2005 Springer-Verlag Berlin Heidelberg
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Newman, P.M., Leonard, J.J., Rikoski, R.J. (2005). Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_44
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DOI: https://doi.org/10.1007/11008941_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23214-8
Online ISBN: 978-3-540-31508-7
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