Stochastic Mapping Using Forward Look Sonar

Abstract

This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and localization algorithms to satisfy the navigation requirements of undersea vehicles equipped with forward look sonar.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2001
Accession Number
ADA605711

Entities

People

  • Hans J. Feder
  • John J. Leonard
  • Robert N. Carpenter

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Acquisition
  • Algorithms
  • Autonomous Underwater Vehicles
  • Cartesian Coordinates
  • Composite Materials
  • Coordinate Systems
  • Data Acquisition
  • Data Association
  • Data Sets
  • Dead Reckoning
  • Feature Extraction
  • Image Processing
  • Inertial Navigation
  • Inertial Navigation Systems
  • Navigation
  • Underwater Vehicles
  • Unmanned Underwater Vehicles

Readers

  • Acoustical Oceanography.
  • Robotics and Automation.