Laser stripe bathymetry using particle filter SLAM
Laser stripe bathymetry using particle filter SLAM
This paper presents a novel application of BPSLAM from Barkby et al [1], onto underwater laser mapping. BPSLAM is a featureless bathymetry mapping algorithm that uses Distributed Particle Mapping and a Rao-Backwelized Particle Filter (RBPF) to handle both navigational estimates and seafloor bathymetry estimates. By weighting the particles in the RBPF with the most self-consistent map, the bathymetric maps and the robot navigation are corrected.
Massot Campos, Miguel
a55d7b32-c097-4adf-9483-16bbf07f9120
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Oliver, Gabriel
93f695c1-7a80-4152-9307-057b4bd6b509
2019
Massot Campos, Miguel
a55d7b32-c097-4adf-9483-16bbf07f9120
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Oliver, Gabriel
93f695c1-7a80-4152-9307-057b4bd6b509
Massot Campos, Miguel, Thornton, Blair and Oliver, Gabriel
(2019)
Laser stripe bathymetry using particle filter SLAM.
Oceans 19, , Marseille, France.
17 - 20 Jun 2019.
7 pp
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
This paper presents a novel application of BPSLAM from Barkby et al [1], onto underwater laser mapping. BPSLAM is a featureless bathymetry mapping algorithm that uses Distributed Particle Mapping and a Rao-Backwelized Particle Filter (RBPF) to handle both navigational estimates and seafloor bathymetry estimates. By weighting the particles in the RBPF with the most self-consistent map, the bathymetric maps and the robot navigation are corrected.
More information
Published date: 2019
Venue - Dates:
Oceans 19, , Marseille, France, 2019-06-17 - 2019-06-20
Identifiers
Local EPrints ID: 432020
URI: http://eprints.soton.ac.uk/id/eprint/432020
PURE UUID: a3a4d507-e790-4696-8561-b77049f585c2
Catalogue record
Date deposited: 26 Jun 2019 16:30
Last modified: 16 Mar 2024 04:39
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Contributors
Author:
Gabriel Oliver
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