Shallow waters SLAM experiments on meredith AUV using forward looking sonar

This paper describes the sea trial experiments conducted to validate the physical implementation of online EKF-SLAM onboard the Meredith Autonomous Underwater Vehicle (AUV) in shallow coastal waters. This paper provides details of the hardware and software implementations of the EKF-SLAM algorithms...

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Bibliographic Details
Main Authors: Koh, A. C. T., Wijesoma, W. S., Pua, S. L., Lee, K. W., Kalyan, B.
Format: Conference Proceeding
Language:English
Subjects:
Data mining
Feature extraction
Hardware
Laser radar
Navigation
Robot vision systems
Simultaneous localization and mapping
Sonar
Underwater vehicles
Water resources
Online Access:Request full text
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Summary:This paper describes the sea trial experiments conducted to validate the physical implementation of online EKF-SLAM onboard the Meredith Autonomous Underwater Vehicle (AUV) in shallow coastal waters. This paper provides details of the hardware and software implementations of the EKF-SLAM algorithms running real-time on the AUV to perform feature-based navigation. The computation resources onboard Meredith and the hardware configuration that facilitated the real-time SLAM demonstration are also featured in this paper. The localization estimates from the SLAM algorithm were validated with ground truth provided by GPS and the deployed targets. Dead-reckoning navigation solution based on DVL and FOGs that were used for vehicle autonomy were also made available for results validation.
ISSN:0197-7385
DOI:10.23919/OCEANS.2009.5422422