Active Simultaneous Localization and Mapping in Perceptually Aliased Underwater Environments
The problem of semantic simultaneous localization and mapping (SLAM) is especially difficult in underwater environments due to sensor characteristics and terrain. The primary underwater sensor, sonar, is subject to multipath reflections, as well as an elevation angle ambiguity that makes it difficul...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/144932 |