|
|
|
|
RI | Publications | Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
|
|
Text only version of this site
Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
N. Fairfield, G.A. Kantor, and D. Wettergreen
Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), AUSI, Lee, New Hampshire, August, 2005.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [808 KB] Compressed postscript (ps.gz) [1892 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| 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.
| Notes |
Sponsor: NASA
Grant ID: NNG04GC09G
Associated center: FRC
Associated project: DEPTHX: Deep Phreatic Thermal Explorer
Number of pages: 11
| Text Reference |
N. Fairfield, G.A. Kantor, and D. Wettergreen, "Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments," Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), AUSI, Lee, New Hampshire, 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)",
month = "August",
year = "2005",
publisher = "AUSI",
address = "Lee, New Hampshire"
}