Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
A Comparison of Submaps Registration Methods for Multibeam Bathymetric Mapping
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-1189-6634
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL. (RPL/EECS)ORCID-id: 0000-0002-7796-1438
2018 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

On-the-fly registration of overlapping multi-beam images is important for path planning by AUVs per-forming underwater surveys. In order to meet specificationon such things as survey accuracy, coverage and density,precise corrections to the AUV trajectory while underwayare required. There are fast methods for aligning pointclouds that have been developed for robots. We compareseveral state of the art methods to align point clouds oflarge, unstructured, sub-aquatic areas to build a globalmap. We first collect the multibeam point clouds intosmaller submaps that are then aligned using variationsof the ICP algorithm. This alignment step can be appliedif the error in AUV pose is small. It would be the finalstep in correcting a larger error on loop closing where aplace recognition and a rough alignment would precedeit. In the case of a lawn mower pattern survey it would bemaking more continuous corrections to small errors in theoverlap between parallel lines. In this work we comparedifferent methods for registration in order to determinethe most suitable one for underwater terrain mapping. Todo so, we benchmark the current state of the art solutionsaccording to an error metrics and show the results.

sted, utgiver, år, opplag, sider
2018.
Emneord [en]
SLAM, AUV
HSV kategori
Forskningsprogram
Farkostteknik; Datalogi
Identifikatorer
URN: urn:nbn:se:kth:diva-250894OAI: oai:DiVA.org:kth-250894DiVA, id: diva2:1314051
Konferanse
2018 IEEE OES Autonomous Underwater Vehicle Symposium
Prosjekter
SMaRC, SSF IRC15-0046
Forskningsfinansiär
Swedish Foundation for Strategic Research , IRC15-0046
Merknad

QC 20190424

Tilgjengelig fra: 2019-05-07 Laget: 2019-05-07 Sist oppdatert: 2019-05-15bibliografisk kontrollert

Open Access i DiVA

fulltext(1477 kB)25 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 1477 kBChecksum SHA-512
838ebd6d2b6567b69624914079a04474abcecd4c4c3215983af8fb88a31deb39ec5b5fd36b659a2e8fade67fd43d17cccca4550715df06557aea48aac1dda2f4
Type fulltextMimetype application/pdf

Personposter BETA

Torroba, IgnacioBore, NilsFolkesson, John

Søk i DiVA

Av forfatter/redaktør
Torroba, IgnacioBore, NilsFolkesson, John
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 25 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

urn-nbn

Altmetric

urn-nbn
Totalt: 125 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf