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Sunday, July 12, 2020 | History

2 edition of Underwater SLAM for structured environments using an imaging sonar found in the catalog.

Underwater SLAM for structured environments using an imaging sonar

David Ribas

Underwater SLAM for structured environments using an imaging sonar

by David Ribas

  • 26 Want to read
  • 14 Currently reading

Published by Springer, Springer Verlag in Berlin, Heidelberg .
Written in English

    Subjects:
  • Underwater imaging systems,
  • Remote submersibles,
  • Unbemanntes Unterwasserfahrzeug,
  • Sonar,
  • Datenfusion,
  • Lokalisierung ,
  • Automatische Kartierung,
  • Robotik

  • Edition Notes

    Includes bibliographical references (p. 133-142).

    StatementDavid Ribas, Pere Ridao, and José Neira
    SeriesSpringer tracts in advanced robotics -- v. 65, Springer tracts in advanced robotics -- v. 65.
    ContributionsRidao, Pere, Neira, José
    Classifications
    LC ClassificationsTK8315 .R52 2010
    The Physical Object
    Paginationxx, 142 p. :
    Number of Pages142
    ID Numbers
    Open LibraryOL25359896M
    ISBN 103642140394
    ISBN 109783642140396
    LC Control Number2010929358
    OCLC/WorldCa646113885

    Sonar (SOund Navigation and Range), especially active sonar, using underwater sound to detect, locate and classify underwater objects (obstacles) always acts as one of standard obstacle avoidance and target recognition sensors in many of the major AUVFile Size: 1MB. underwater, developments in computer vision techniques for detecting and recognising objects from optical images are not applicable in most practical scenarios. Acoustic imaging using SONAR is the most popular approach. While there has been much activity in developing low-level tools for processing SONAR images ([16], [24]), there is an imminent.

    Relocating Underwater Features Autonomously Using Sonar-Based SLAM Maurice F. Fallon, John Folkesson, Hunter McClelland and John J. Leonard Abstract This paper describes a system for reacquiring features of interest in a shallow water ocean envi-ronment, using autonomous underwater vehicles (AUVs) equipped with low-cost sonar and navigation. imaging of underwater environments using robots capable of capturing, mosaicing, mapping, and analyzing color images of the space. In our previous work [12] we have described a robot capable of such a task. Figure 7 shows this underwater robot at the end of an underwater color imaging mission. In Cited by:

    of underwater sound and sonar imaging. The criteria of sensor selection were also described. It concluded a simple experiment, which was designed for examining the ability of the mechanically scanned imaging sonar (MSIS) and providing a reference data for the future target object selection. Chapters 4 and 5 presented two different approachesFile Size: 1MB. This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds). An Iterative Closest Point (ICP) with a probabilistic implementation is then used to Cited by:


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Underwater SLAM for structured environments using an imaging sonar by David Ribas Download PDF EPUB FB2

Recently, a SLAM algorithm using an imaging sonar has been developed to effectively solve the navigation problem in structured environments like harbours, marinas, marine platforms and other. Underwater SLAM for Structured Environments Using an Imaging Sonar.

Authors (view affiliations) The described approaches are designed for use in structured environments like those present in many industrial scenarios, specifically for scenarios containing manmade structures in the form of rectilinear walls like those met in harbours.

Underwater SLAM for Structured Environments Using an Imaging Sonar. Authors: Ribas, David, Ridao, Pere, Neira (AUVs) operating in structured environments, with special attention to localization techniques but, particularly, to the application of SLAM (Simultaneous Localization And Mapping) techniques as a self-contained system which.

Underwater SLAM for Structured Environments Using an Imaging Sonar David Ribas, Pere Ridao, José Neira Springer Science & Business Media, - Technology & Engineering - pages. Underwater SLAM for Structured Environments Using an Imaging Sonar (Springer Tracts in Advanced Robotics) [Ribas, David, Ridao, Pere, Neira, José] on *FREE* shipping on qualifying offers.

Underwater SLAM for Structured Environments Using an Imaging Sonar (Springer Tracts in Cited by: COVID Resources.

Reliable information about the coronavirus (COVID) is available from the World Health Organization (current situation, international travel).Numerous and frequently-updated resource results are available from this ’s WebJunction has pulled together information and resources to assist library staff as they consider how to handle coronavirus.

Get this from a library. Underwater SLAM for structured environments using an imaging sonar. [David Ribas; Pere Ridao; José Neira] -- This monograph presents different techniques developed with the objective of providing a solution to the navigation problem for Autonomous Underwater Vehicles (AUVs) operating in structured.

SLAM using an Imaging Sonar for Partially Structured Underwater Environments. for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms.

Underwater SLAM for Structured Environments Using an Imaging Sonar | David Ribas, Pere Ridao, José Neira (auth.) | download | B–OK.

Download books for free. Find books. Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging Price: $ In this paper we describe an underwater SLAM system for AUVs using an imaging sonar that builds a feature-based map of the environment, consisting in line features corresponding to planar structures in the environment.

These types of structures are present in many environments of interest for AUVs such as dams, ports, or marine platforms (See. Underwater SLAM for Structured Environments Using an Imaging Sonar by David Ribas (author), Pere Ridao (author), José Neira (author) and a great selection of related books, art and collectibles available now at   Acknowledgements.

The work is supported by the Strategic Priority Program of the Chinese Academy of Sciences (No. XDC, No. XDA), the State Key Laboratory of Robotics of China (No. Z), the National Key Research and Development Program of China (No.

YFC, No. YFC, No. YFC), the project of “R&D Center for Author: Min Jiang, Sanming Song, Yiping Li, Wenming Jin, Jian Liu, Xisheng Feng.

structured, environments are uncommon. The use of raw range data in SLAM not assuming any type of feature in the environment has been proposed as an alternative to feature based SLAM [11]. Moreover, the feasibility of SLAM in underwater environments using the raw readings of a Mechanically Scanned Imaging Sonar (MSIS) has been demonstrated.

Recent algorithms have demonstrated the feasibility of underwater feature-based SLAM using imaging sonar. But previous methods have either relied on manual feature extraction and correspondence or used prior knowledge of the scene, such as the planar scene assumption. Our proposed system provides a general-purpose method for feature-point extraction and correspondence in arbitrary scenes.

Best Sellers in Computer Localization #1. How to Create a Mind: The Secret of Human Thought Revealed Underwater SLAM for Structured Environments Using an Imaging Sonar (Springer Tracts in Advanced Robotics) (Computational and Experimental Methods in Structures Book 10) Ali S.

SONAR Systems and Underwater Signal Processing: Classic and Modern Approaches SONAR systems, the measured signals, known as contacts, are reflected either from targets or from other undesired sources.

In the latter case, the measured signal is known as a false alarm or clutter as mentioned Size: 1MB. In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms.

An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full deg sonar scan is. Underwater Surveys using Sonar Imaging presentation by Bob Clarke of Aquatic Sciences ASDSO Northeast Regional Conference, June SLAM using an imaging sonar for partially structured environments.

Books & book chapters. Ribas, P. Ridao, and J. Neira: Underwater SLAM for Structured Environments Using an Imaging Sonar. Number 65 in Springer Tracts in Advanced Robotics.

Springer Verlag, Heidelberg, Alemania, August. Automatic Underwater Multiple Objects Detection and Tracking Using Sonar Imaging ShiZhao Submitted in Fulfilmentof the requirements for the degree of Master ofEngineering Science structured environments, where the water depth is below 30 meters, surface reverberation.1 Relocating Underwater Features Autonomously Using Sonar-Based SLAM Maurice F.

Fallon, John Folkesson, Hunter McClelland and John J. Leonard Abstract This paper describes a system for reacquiring features of interest in a shallow water ocean environment, using autonomous underwater vehicles (AUVs) equipped with low-cost sonar and navigation File Size: 3MB.The Underwater Stage is an underwater film and television studio stage at Pinewood Studios in Iver, Buckinghamshire, United is the only one of its kind in Europe.

The stage was opened in after four years of planning and development. The stage's tank is permanently filled, and the water is constantly heated, maintained at 30 ˚C (87 ˚F).Studios: Current, Pinewood Studios, List of .