Title | Terrain-based navigation for underwater vehicles using an ultrasonic scanning system |
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Authors | Lygouras, J.N., Kodogiannis, V., Pachidis, T. and Liatsis, P. |
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Abstract | In this paper an approach to the field of outdoor robotic navigation with a focus on underwater simultaneous localization and mapping (SLAM) is proposed that utilizes ultrasonic scanning images. Experimental results from the implementation of a SLAM algorithm with real data are presented. The projected landmark detection process constructs a map of the environment and generates navigation estimates based on an adaptive delayed nearest-neighbor algorithm. The feature extraction and validation processes are resolved at the sensor level using a simple local maximum-level detection algorithm on the range data. This paper presents experimental results from our research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in a shallow water environment. |
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Journal | Advanced Robotics |
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Journal citation | 22 (11), pp. 1181-1205 |
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ISSN | 0169-1864 |
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Year | 2008 |
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Publisher | Brill |
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Digital Object Identifier (DOI) | https://doi.org/10.1163/156855308X338429 |
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Publication dates |
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Published | 2008 |
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