X-band radar based SLAM in Singapore's off-shore environment
Name
Hover_X-band radar.pdf
Size
1.51 MB
Format
Adobe PDF
Checksum (MD5)
2e6b671ba1f7cfe2312ac1f73d33ab2a
Author(s)
Hover, Franz S.
Patrikalakis, Nicholas M.
Mullane, John Stephen
Keller, Samuel
Rao, Akshay
Adams, Martin
Yeo, Anthony
Date Issued
2010
Journal
Proceedings of the 2010 11th International Conference on Control Automation Robotics & Vision (ICARCV)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Mullane, John et al. X-band radar based SLAM in Singapore's off-shore environment.” Proceedings of the 2010 11th International Conference on Control Automation Robotics & Vision (ICARCV), 2010. 398–403.
Version
Final published version
Abstract
This paper presents a simultaneous localisation and mapping (SLAM) algorithm implemented on an autonomous sea kayak with a commercial off-the-shelf X-band marine radar mounted. The Autonomous Surface Craft (ASC) was driven in an off-shore test site in Singapore's southern Selat Puah marine environment. Data from the radar, GPS and an inexpensive single-axis gyro data were logged by an on-board processing unit as the ASC traversed the environment, which comprised geographical and surface vessel landmarks. An automated feature extraction routine is presented, based on a probabilistic landmark detector, followed by a clustering and centroid approximation approach. With restrictive feature modeling, and a lack of vehicle control input information, it is demonstrated that via the novel RB-PHD-SLAM Filter, useful results can be obtained, despite an actively rolling and pitching ASC on the sea surface. In addition, the merits of investigating ASC SLAM are demonstrated, particularly with respect to the map estimation, obstacle avoidance and target tracking problems. Despite the presence of GPS and gyro data, heading information on such small ASC's is greatly compromised which induces large sensing error, further accentuate by the large range of the radar sensor. This work is a step towards realising an ASC capable of performing environmental or security surveillance and reporting a real-time active awareness of the above-water scene.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICARCV.2010.5707835
