Multibeam 3D Underwater SLAM with Probabilistic Registration

This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., poi...

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Detalles Bibliográficos
Autores principales: Palomer, Albert, Ridao, Pere, Ribas, David
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2016
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4851074/
https://www.ncbi.nlm.nih.gov/pubmed/27104538
http://dx.doi.org/10.3390/s16040560

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4851074/
https://www.ncbi.nlm.nih.gov/pubmed/27104538
http://dx.doi.org/10.3390/s16040560

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