Acoustic Localization of Underwater Robots: A Time of Arrival-Based Particle Filter Approach Using Asynchronous Beacon Pinging.
Balamurugan RamachandranScott MayberryFumin ZhangPublished in: CACRE (2023)
Keyphrases
- particle filter
- rao blackwellized particle filter
- underwater acoustic
- localization algorithm
- acoustic signal
- underwater vehicles
- mobile robot
- target tracking
- simultaneous localization and mapping
- visual tracking
- kalman filter
- object tracking
- particle filtering
- mean shift
- state estimation
- multi robot
- monte carlo
- robust visual tracking
- autonomous underwater vehicles
- motion model
- position information
- state space
- multiple hypotheses
- autonomous robots
- sound source
- robotic systems
- appearance model
- autonomous underwater vehicle
- robust tracking
- likelihood function
- multiple object tracking
- data association
- observation model
- wireless sensor networks
- sequential monte carlo
- path planning
- search algorithm
- importance sampling
- proposal distribution
- face tracking
- abrupt motion
- robot soccer
- mobile robotics
- multiple hypothesis