Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment

Abstract— This paper describes the application of a RaoBlackwellized Particle Filter to the problem of simultaneous localization and mapping onboard a hovering autonomous underwater vehicle. This vehicle, called DEPTHX, will be equipped with a large array of pencil-beam sonars for mapping, and will autonomously explore a system of flooded tunnels associated with the Zacat´on sinkhole in Tamaulipas, Mexico. Due to the threedimensional nature of the tunnels, the Particle Filter must use a three dimensional map. We describe an extension of traditional two dimensional evidence grids to three dimensions. In May 2005, we collected a sonar data set in Zacat´on. We present successful SLAM results using both the real-world data and simulated data.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Nathaniel Fairfield, George Kantor, David Wettergreen
• Keywords: Autonomous Underwater Vehicle, ICRA 2006, Particle Filter, RaoBlackwellized Particle Filter, Robotics