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Laser stripe bathymetry using particle filter SLAM

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
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Oliver, Gabriel
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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.

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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
ORCID for Miguel Massot Campos: ORCID iD orcid.org/0000-0002-1202-0362

Catalogue record

Date deposited: 26 Jun 2019 16:30
Last modified: 26 Nov 2021 03:18

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Contributors

Author: Blair Thornton
Author: Gabriel Oliver

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