Experiments on localization of an AUV using graph-based SLAM | IEEE Conference Publication | IEEE Xplore

Experiments on localization of an AUV using graph-based SLAM


Abstract:

This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Rel...Show More

Abstract:

This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKF-based SLAM result.
Date of Conference: 30 October 2013 - 02 November 2013
Date Added to IEEE Xplore: 02 December 2013
ISBN Information:
Conference Location: Jeju, Korea (South)

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