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ISER
2000
Springer

Map Building and Localization for Underwater Navigation

14 years 4 months ago
Map Building and Localization for Underwater Navigation
: A framework for underwater navigation by combining raw information from different sensors into a single scene description is presented. It is shown that features extracted from such a description are more robust than those extracted from an individual sensor. These descriptions are then combined from many consecutive scenes to form the basis of a new method of map building and representation as a multilevel feature space using probability theory. Comparison of maps previously created and stored in this format against newly acquired scene descriptions are then used for vehicle localization. Experimental results from offshore trials, as well as simulation results, are presented.
Somajyoti Majumder, Julio Rosenblatt, Steve Schedi
Added 25 Aug 2010
Updated 25 Aug 2010
Type Conference
Year 2000
Where ISER
Authors Somajyoti Majumder, Julio Rosenblatt, Steve Scheding, Hugh F. Durrant-Whyte
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