Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar

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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Bibliographic Details
Main Authors:	Newman, P, Leonard, J, Rikoski, R
Format:	Conference item
Published:	2005

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