EKF-SLAM for AUV navigation under probabilistic sonar scan-matching.
Angelos MalliosPere RidaoDavid RibasFrancesco MaurelliYvan R. PetillotPublished in: IROS (2010)
Keyphrases
- autonomous underwater vehicle
- mobile robot
- autonomous underwater vehicles
- simultaneous localization and mapping
- dead reckoning
- monocular slam
- indoor environments
- extended kalman filter
- obstacle avoidance
- unknown environments
- kalman filter
- outdoor environments
- path planning
- particle filter
- robot navigation
- visual slam
- loop closing
- uncertain data
- probabilistic model
- dynamic environments
- real time
- matching algorithm
- bayesian networks
- cooperative
- generative model
- autonomous navigation
- mobile robotics
- kalman filtering
- single camera
- matching process
- visual odometry
- motion estimation
- robotic systems
- image matching
- pattern matching
- computer simulation