DocumentCode :
3267661
Title :
Building qualitative elevation maps from side scan sonar data for autonomous underwater navigation
Author :
Langer, D. ; Hebert, M.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear :
1991
fDate :
9-11 Apr 1991
Firstpage :
2478
Abstract :
Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. An approach is presented for autonomous underwater vehicles using a side scan sonar system. Some general aspects of the type of data and filtering techniques to improve it are discussed. An estimated bottom contour is derived using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented. A method is presented for feature extraction which is important for future data matching/fusion procedures
Keywords :
acoustic signal processing; filtering and prediction theory; marine systems; navigation; sonar; autonomous underwater navigation; feature extraction; filtering; geometric reflection model; qualitative elevation maps; side scan sonar data; surface reconstruction; terrain model; Feature extraction; Filtering; Mobile robots; Noise reduction; Optical reflection; Robotics and automation; Sea surface; Sonar navigation; Surface reconstruction; Underwater vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
Type :
conf
DOI :
10.1109/ROBOT.1991.131997
Filename :
131997
Link To Document :
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