Underwater SLAM for Structured Environments Using an Imaging Sonar

• Main Authors: Ribas, David. (Author), Ridao, Pere. (Author), Neira, Jos.̌ (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Series: Springer Tracts in Advanced Robotics, 65
• Subjects: Engineering.; Artificial intelligence.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).
• Online Access: https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-3-642-14040-2

This monograph presents different techniques developed with the objective of providing a solution to the navigation problem for Autonomous Underwater Vehicles (AUVs) operating in structured environments, with special attention to localization techniques but, particularly, to the application of SLAM...

Table of Contents:

• Part 1 Introduction
• Part 2 State of the Art
• Part 3 Design and development of the Ictineu AUV
• Part 4 Understanding Mechanically Scanned Imaging Sonars
• Part 5 Localization with an a priori Map
• Part 6 Simultaneous Localization and Mapping
• Part 7 Conclusion
• Part A The Kalman filter
• part B Correlations in DVL measurements
• part C Transformations in 2D.