Underwater SLAM for Structured Environments Using an Imaging Sonar

  • David Ribas
  • Pere Ridao
  • José Neira

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 65)

Table of contents

  1. Front Matter
  2. David Ribas, Pere Ridao, José Neira
    Pages 1-6
  3. David Ribas, Pere Ridao, José Neira
    Pages 7-21
  4. David Ribas, Pere Ridao, José Neira
    Pages 23-35
  5. David Ribas, Pere Ridao, José Neira
    Pages 37-46
  6. David Ribas, Pere Ridao, José Neira
    Pages 47-75
  7. David Ribas, Pere Ridao, José Neira
    Pages 77-112
  8. David Ribas, Pere Ridao, José Neira
    Pages 113-119
  9. Back Matter

About this book

Introduction

This monograph presents different techniques developed with the objective of providing a solution to the navigation problem for Autonomous Underwater Vehicles (AUVs) operating in structured environments, with special attention to localization techniques but, particularly, to the application of SLAM (Simultaneous Localization And Mapping) techniques as a self-contained system which requires neither previous knowledge of the scenario nor the use of absolute positioning systems like GPS, LBL or USBL. This monograph presents techniques for feature extraction capable of dealing with the particular complexities of a mechanically scanned imaging sonar. The described approaches are designed for use in structured environments like those present in many industrial scenarios, specifically for scenarios containing manmade structures in the form of rectilinear walls like those met in harbours, breakwaters, marinas, canal systems, etc.

Keywords

Localization SLAM Sonar Underwater robotics autonom knowledge navigation sensor fusion

Authors and affiliations

  • David Ribas
    • 1
  • Pere Ridao
    • 1
  • José Neira
    • 2
  1. 1.Centre d’Investigació en Robòtica Submarina, Parc Científic i Tecnològic dela Universitat de GironaGironaSpain
  2. 2.Grupo de Robótica y Tiempo Real, Dept. Informática e Ingeniería de Sistemas, Centro Politécnico Superior,Universidad de ZaragozaZaragozaSpain

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-14040-2
  • Copyright Information Springer Berlin Heidelberg 2010
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-14039-6
  • Online ISBN 978-3-642-14040-2
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book