Abstract
The automation of the monitoring, inspection and underwater maintenance tasks by underwater robots require a mapping and localization system. One challenge of these systems is how to recognize previously visited place in sensory information. This paper proposes a extended version of a method to detect loop closure dealing with acoustic images acquired by a forward looking sonar (FLS). The method builds a graph of Gaussian probability density function. This structure represents both shape and topological relation. We improve the image segmentation step adding a local parameters adjustment regard to intensity peak analyze of acoustic beams and changed the graph matching metric. We evaluate the method in a real dataset acquired by a underwater vehicle performing navigation in a harbor area.
The use of robots in underwater exploration is increasing in the last years.
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Acknowledgment
The authors thank to colleagues of the NAUTEC-FURG. This research is partly supported of CNPq, CAPES, FAPERGS and PRH-27 FURG-ANP/MCT. This paper is a contribution of the INCT-Mar COI funded by CNPq Grant Number 610012/2011-8.
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Machado, M., Zaffari, G., Ballester, P., Drews-Jr, P., Botelho, S. (2016). A Topological Descriptor of Forward Looking Sonar Images for Navigation and Mapping. In: Santos Osório, F., Sales Gonçalves, R. (eds) Robotics. SBR LARS 2016 2016. Communications in Computer and Information Science, vol 619. Springer, Cham. https://doi.org/10.1007/978-3-319-47247-8_8
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