Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar.
Pau VialNarcís PalomerasJoan SolàMarc CarrerasPublished in: J. Field Robotics (2024)
Keyphrases
- mobile robot
- sonar images
- autonomous underwater vehicle
- gaussian mixture model
- matching algorithm
- loop closure
- pose estimation
- obstacle avoidance
- simultaneous localization and mapping
- graph matching
- pattern matching
- mixture model
- mobile robotics
- feature points
- d objects
- gaussian mixture
- position and orientation
- high resolution
- indoor environments
- path planning
- gaussian mixture modeling
- real time
- acoustic signals
- autonomous underwater vehicles
- visual slam
- pose recovery
- underwater vehicles
- articulated objects
- matching process
- image matching
- structure from motion
- em algorithm
- particle filter