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3D mapping by a robotic fish with two mechanical scanning sonars

Chen, L and Wang, S and Hu, H and Ryuh, YS and Yang, GH (2016) 3D mapping by a robotic fish with two mechanical scanning sonars. In: UNSPECIFIED, ? - ?.

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3D mapping is one of themost significant abilities for autonomous underwater vehicles (AUV). This paper proposes a 3Dmapping algorithm for a robotic fish using two mechanical scanning sonars (MSSs) with one being forward-looking and the other downward-looking. Combined with inertial measurement unit (IMU), the forward-lookingMSSis used for 2DSLAM(simultaneous localization and mapping) by which the 2D poses of the vehicle are optimally obtained by applying a pose-based GraphSLAM. Based on the estimated 2D poses, depth and orientation, the measurements from the downward-looking sonar are used to build the 3D map by adapting 3D mapping algorithm Octomap while taking into account the pose uncertainty. The effectiveness of the proposed algorithm is verified by extensive simulations which also show that it can generate more informative 3D map than the scenario where no uncertainty of poses is considered.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: Published proceedings: Advances in Intelligent Systems and Computing
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 23 Jul 2015 11:10
Last Modified: 30 Mar 2021 23:15

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