Conference item

Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar

Abstract:: This paper applies a new constant-time, consistent and convergent Simultaneous Localization and Mapping (SLAM) algorithm to synthetic aperture sonar (SAS) data acquired by an autonomous underwater vehicle (AUV). Using a novel target detection strategy, data gathered from a 40 minute survey is processed and the results compared to both a ground truth and the "gold standard" quadratic time full covariance SLAM algorithm. © Springer-Verlag Berlin Heidelberg 2005.

Publication status:: Published

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APA Style

Newman, P., Leonard, J., & Rikoski, R. (2005). Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar. 15, 409–420.

MLA Style

Newman, P, et al. “Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar.” vol. 15, 2005, pp. 409–20.

Chicago Style

Newman, P, J Leonard, and R Rikoski. 2005. “Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar.” 15: 409–20.
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Authors

+ Newman, P More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Role:: Author

+ Leonard, J More by this author

Role:: Author

+ Rikoski, R More by this author

Role:: Author

Host title:: Robotics Research
Volume:: 15
Pages:: 409-420
Publication date:: 2005-01-01
EISSN:: 1610-742X
ISSN:: 1610-7438
ISBN:: 3540232141

Pubs id:: pubs:63234
UUID:: uuid:1b12ba44-43c6-4b97-85f3-021ed2031540
Local pid:: pubs:63234
Source identifiers:: 63234
Deposit date:: 2012-12-19
ARK identifier:: ark:/29072/ora_1b12ba4443c64b9785f3021ed2031540

Terms of use

Copyright date:: 2005

Licence:: Terms and Conditions of Use for Oxford University Research Archive

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