Underwater inspection using sonar-based volumetric submaps
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Leonard_Underwater inspection.pdf
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2.17 MB
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Adobe PDF
Checksum (MD5)
06b861d0bdd711863a322cccceaff767
Author(s)
Kaess, Michael
Hover, Franz S
Leonard, John J
Teixeira, Pedro V.
Date Issued
2016
Journal
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Teixeira, Pedro V., Michael Kaess, Franz S. Hover, and John J. Leonard. “Underwater Inspection Using Sonar-Based Volumetric Submaps.” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (October 2016). ©2016 Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
We propose a submap-based technique for mapping of underwater structures with complex geometries. Our approach relies on the use of probabilistic volumetric techniques to create submaps from multibeam sonar scans, as these offer increased outlier robustness. Special attention is paid to the problem of denoising/enhancing sonar data. Pairwise submap alignment constraints are used in a factor graph framework to correct for navigation drift and improve map accuracy. We provide experimental results obtained from the inspection of the running gear and bulbous bow of a 600-foot, Wright-class supply ship.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2016.7759631
