Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar
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 proces...
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| Format: | Conference item |
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2005
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| _version_ | 1797056526738784256 |
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| author | Newman, P Leonard, J Rikoski, R |
| author_facet | Newman, P Leonard, J Rikoski, R |
| author_sort | Newman, P |
| collection | OXFORD |
| description | 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. © Springer-Verlag Berlin Heidelberg 2005. |
| first_indexed | 2024-03-06T19:23:56Z |
| format | Conference item |
| id | oxford-uuid:1b12ba44-43c6-4b97-85f3-021ed2031540 |
| institution | University of Oxford |
| last_indexed | 2024-03-06T19:23:56Z |
| publishDate | 2005 |
| record_format | dspace |
| spelling | oxford-uuid:1b12ba44-43c6-4b97-85f3-021ed20315402022-03-26T10:58:17ZTowards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonarConference itemhttp://purl.org/coar/resource_type/c_5794uuid:1b12ba44-43c6-4b97-85f3-021ed2031540Symplectic Elements at Oxford2005Newman, PLeonard, JRikoski, RThis 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. © Springer-Verlag Berlin Heidelberg 2005. |
| spellingShingle | Newman, P Leonard, J Rikoski, R Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar |
| title | Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar |
| title_full | Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar |
| title_fullStr | Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar |
| title_full_unstemmed | Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar |
| title_short | Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar |
| title_sort | towards constant time slam on an autonomous underwater vehicle using synthetic aperture sonar |
| work_keys_str_mv | AT newmanp towardsconstanttimeslamonanautonomousunderwatervehicleusingsyntheticaperturesonar AT leonardj towardsconstanttimeslamonanautonomousunderwatervehicleusingsyntheticaperturesonar AT rikoskir towardsconstanttimeslamonanautonomousunderwatervehicleusingsyntheticaperturesonar |