Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments

Nathaniel Fairfield, George A. Kantor, and David Wettergreen
Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), August, 2005.


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Abstract
We describe the initial results in constructing the simultaneous localization and mapping system for exploration of flooded subterranean environments like mines and caves for an autonomous hovering vehicle which will explore flooded cenotes (sinkholes) in Mexico. In May 2005, a preliminary data set was collected in the Zacaton cenote using a drop sonde equipped with a circular array of 32 pencil beam sonar transducers. This paper presents the results of applying an evidence grid and particle filter localization system to the Zacaton data, as well as some simulations that investigate the effectiveness of different sonar geometry configurations.

Keywords
evidence grids, slam, underwater

Notes
Sponsor: NASA
Grant ID: NNG04GC09G
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): DEPTHX: Deep Phreatic Thermal Explorer
Number of pages: 11

Text Reference
Nathaniel Fairfield, George A. Kantor, and David Wettergreen, "Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments," Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), August, 2005.

BibTeX Reference
@inproceedings{Fairfield_2005_5126,
   author = "Nathaniel Fairfield and George A Kantor and David Wettergreen",
   title = "Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments",
   booktitle = "Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST)",
   publisher = "AUSI",
   address = "Lee, New Hampshire",
   month = "August",
   year = "2005",
}