Underwater inspection using sonar-based volumetric submaps
Author(s)Kaess, Michael; Hover, Franz S; Leonard, John J; Teixeira, Pedro V.
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Institute of Electrical and Electronics Engineers (IEEE)
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)
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