TY - GEN
T1 - Imaging sonar-aided navigation for autonomous underwater harbor surveillance
AU - Johannsson, Hordur
AU - Kaess, Michael
AU - Englot, Brendan
AU - Hover, Franz
AU - Leonard, John
PY - 2010
Y1 - 2010
N2 - In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach only uses onboard sensors in a simultaneous localization and mapping setting and removes the need for any external infrastructure like acoustic beacons.We extract dense features from a forward-looking imaging sonar and apply pair-wise registration between sonar frames. The registrations are combined with onboard velocity, attitude and acceleration sensors to obtain an improved estimate of the vehicle trajectory. We show results from several experiments that demonstrate drift-free navigation in various underwater environments.
AB - In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach only uses onboard sensors in a simultaneous localization and mapping setting and removes the need for any external infrastructure like acoustic beacons.We extract dense features from a forward-looking imaging sonar and apply pair-wise registration between sonar frames. The registrations are combined with onboard velocity, attitude and acceleration sensors to obtain an improved estimate of the vehicle trajectory. We show results from several experiments that demonstrate drift-free navigation in various underwater environments.
UR - http://www.scopus.com/inward/record.url?scp=78651492310&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651492310&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650831
DO - 10.1109/IROS.2010.5650831
M3 - Conference contribution
AN - SCOPUS:78651492310
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4396
EP - 4403
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -