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 |
| _version_ | 1811307427091447808 |
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| author | Antoni Burguera Gabriel Oliver Yolanda González |
| author_facet | Antoni Burguera Gabriel Oliver Yolanda González |
| author_sort | Antoni Burguera |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-13T09:04:11Z |
| format | Article |
| id | doaj.art-47279c122ba34c91a83bf4c297d7d811 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T09:04:11Z |
| publishDate | 2012-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-47279c122ba34c91a83bf4c297d7d8112022-12-22T02:53:01ZengMDPI AGSensors1424-82202012-06-011267855788510.3390/s120607855The UspIC: Performing Scan Matching Localization Using an Imaging SonarAntoni BurgueraGabriel OliverYolanda GonzálezThis 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.http://www.mdpi.com/1424-8220/12/6/7855imaging sonarunderwater roboticslocalizationscan matching |
| spellingShingle | Antoni Burguera Gabriel Oliver Yolanda González The UspIC: Performing Scan Matching Localization Using an Imaging Sonar Sensors imaging sonar underwater robotics localization scan matching |
| title | The UspIC: Performing Scan Matching Localization Using an Imaging Sonar |
| title_full | The UspIC: Performing Scan Matching Localization Using an Imaging Sonar |
| title_fullStr | The UspIC: Performing Scan Matching Localization Using an Imaging Sonar |
| title_full_unstemmed | The UspIC: Performing Scan Matching Localization Using an Imaging Sonar |
| title_short | The UspIC: Performing Scan Matching Localization Using an Imaging Sonar |
| title_sort | uspic performing scan matching localization using an imaging sonar |
| topic | imaging sonar underwater robotics localization scan matching |
| url | http://www.mdpi.com/1424-8220/12/6/7855 |
| work_keys_str_mv | AT antoniburguera theuspicperformingscanmatchinglocalizationusinganimagingsonar AT gabrieloliver theuspicperformingscanmatchinglocalizationusinganimagingsonar AT yolandagonzalez theuspicperformingscanmatchinglocalizationusinganimagingsonar AT antoniburguera uspicperformingscanmatchinglocalizationusinganimagingsonar AT gabrieloliver uspicperformingscanmatchinglocalizationusinganimagingsonar AT yolandagonzalez uspicperformingscanmatchinglocalizationusinganimagingsonar |