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Abstract

This paper describes the application of a Rao-Blackwellized Particle Filter to the problem of simultaneous localization and mapping onboard a hovering autonomous underwater vehicle. This vehicle, called DEPTHX, will be equipped with a large array of pencil-beam sonars for mapping, and will autonomously explore a system of flooded tunnels associated with the Zacaton sinkhole in Tamaulipas, Mexico. Due to the three-dimensional nature of the tunnels, the Particle Filter must use a three dimensional map. We describe an extension of traditional two dimensional evidence grids to three dimensions. In May 2005, we collected a sonar data set in Zacaton. We present successful SLAM results using both the real-world data and simulated data.

Keywords

particle filter, SLAM, underwater

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): DEPTHX: Deep Phreatic Thermal Explorer

Number of pages: 6

Text Reference

Nathaniel Fairfield, George A. Kantor, and David Wettergreen, "Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment," Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580.

BibTeX Reference

@inproceedings{Fairfield_2006_5452,
   author = "Nathaniel Fairfield and George A Kantor and David Wettergreen",
   title = "Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment",
   booktitle = "Proceedings of ICRA 2006",
   pages = "3575 - 3580",
   month = "May",
   year = "2006",
}

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