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Type: Conference paper
Title: Automatic map building for AUV localization in confined environment
Author: Zhao, S.
Lu, T.
Anvar, A.
Citation: IAENG Transactions On Engineering Technologies Volume 3: Special Edition of the International MultiConference of Engineers and Computer Scientists 2009: pp. 187-201
Publisher: Springer New York LLC
Publisher Place: United States
Issue Date: 2009
Series/Report no.: AIP Conference Proceedings
ISBN: 9780735407138
ISSN: 0094-243X
Conference Name: International MultiConference of Engineers and Computer Scientists (2009 : Hong Kong, China)
Editor: Ao, S.L.
Chan, A.H.S.
Katagiri, H.
Xu, L.
Statement of
Shi Zhao, Tien-Fu Lu and Amir Anvar
Abstract: This book chapter presents an algorithm for underwater mapping and localization in a confined environment, which are two major issues for autonomous underwater vehicle (AUV)'s navigation. The proposed procedure consists of the application of mathematical morphology image segmentation and least squares curve fitting. A Mechanically Scanned Imaging Sonar (MSIS) is used to sense the surroundings of the robot. Experimental data were collected in an elliptical test tank. The algebraic map is constructed from the acoustic images. Results demonstrate good, reliable and fast performances of the proposed algorithm. © 2009 American Institute of Physics.
Keywords: sonar
Description: Also cited as: AIP Conference Proceedings, 2009; 1174:187-201
Rights: ©2009 American Institute of Physics
DOI: 10.1063/1.3256246
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Appears in Collections:Aurora harvest 5
Mechanical Engineering conference papers

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