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The UspIC: Performing Scan Matching Localization Using an Imaging Sonar

This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which...

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Detalles Bibliográficos
Autores principales: Burguera, Antoni, Gonzàlez, Yolanda, Oliver, Gabriel
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2012
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3436004/
https://www.ncbi.nlm.nih.gov/pubmed/22969375
http://dx.doi.org/10.3390/s120607855
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author Burguera, Antoni
Gonzàlez, Yolanda
Oliver, Gabriel
author_facet Burguera, Antoni
Gonzàlez, Yolanda
Oliver, Gabriel
author_sort Burguera, Antoni
collection PubMed
description This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the uspIC, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided.
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spelling pubmed-34360042012-09-11 The UspIC: Performing Scan Matching Localization Using an Imaging Sonar Burguera, Antoni Gonzàlez, Yolanda Oliver, Gabriel Sensors (Basel) Article This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the uspIC, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided. Molecular Diversity Preservation International (MDPI) 2012-06-08 /pmc/articles/PMC3436004/ /pubmed/22969375 http://dx.doi.org/10.3390/s120607855 Text en © 2012 by the authors; licensee MDPI, Basel, Switzerland This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Burguera, Antoni
Gonzàlez, Yolanda
Oliver, Gabriel
The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
title The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
title_full The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
title_fullStr The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
title_full_unstemmed The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
title_short The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
title_sort uspic: performing scan matching localization using an imaging sonar
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3436004/
https://www.ncbi.nlm.nih.gov/pubmed/22969375
http://dx.doi.org/10.3390/s120607855
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