DocumentCode
651076
Title
Experiments on localization of an AUV using graph-based SLAM
Author
Donghwa Lee ; Donghoon Kim ; Sangwon Lee ; Hyun Myung ; Hyun-Taek Choi
Author_Institution
Urban Robot. Lab., KAIST, Daejeon, South Korea
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
526
Lastpage
527
Abstract
This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKF-based SLAM result.
Keywords
SLAM (robots); autonomous underwater vehicles; object detection; path planning; robot vision; AUV localization; EKF-based SLAM; autonomous underwater vehicle; dead-reckoning data; graph structure; graph-based SLAM algorithm; graph-based simultaneous localization and mapping; image processing; landmark detection; relative range; vision-based localization; AUV; EKF-based SLAM; SLAM; graph-based SLAM; underwater localization;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677329
Filename
6677329
Link To Document