Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar (2003)
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| Venue: | In Eleventh International Symposium of Robotics Research |
| Citations: | 20 - 3 self |
BibTeX
@INPROCEEDINGS{Newman03towardsconstant-time,
author = {Paul M. Newman and John J. Leonard and Richard J. Rikoski},
title = {Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar},
booktitle = {In Eleventh International Symposium of Robotics Research},
year = {2003},
pages = {409--420}
}
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Abstract
This paper applies a new constant-time, consistent and convergent Simultaneous Localization and Mapping (SLAM) algorithm to an autonomous underwater vehicle (AUV). A constant-time SLAM algorithm offers computation independent of workspace size and is one key component in the development of truly autonomous agents. The real-time deployment of such a system would be a landmark achievement for the mobile robotics community. This paper describes progress towards this goal focusing on the sub-sea domain — an area set to benefit massively from the autonomy afforded by SLAM. The primary sensor used in this work is a sixteen element synthetic aperture sonar (SAS) carried on the nose of the AUV “Caribou”. Using a novel target detection strategy, data gathered from a 40 minute survey is processed by the new SLAM algorithm and the results compared to both a ground truth and the quadratic time “gold standard ” full covariance SLAM algorithm. 1
