Underwater SLAM with robocentric trajectory using a Mechanically Scanned Imaging Sonar.
Antoni BurgueraYolanda González CidGabriel OliverPublished in: IROS (2011)
Keyphrases
- mobile robot
- sonar images
- high resolution
- autonomous underwater vehicle
- synthetic aperture sonar
- simultaneous localization and mapping
- mobile robotics
- synthetic aperture
- autonomous underwater vehicles
- imaging systems
- image processing
- image analysis
- indoor environments
- trajectory data
- super resolution
- path planning
- obstacle avoidance
- multi robot
- real time
- acoustic signals
- visual slam
- map building
- particle filter
- document images
- scanned images
- image reconstruction
- cooperative
- image segmentation
- monocular slam
- motion planning
- vehicle trajectory