Underwater SLAM for Structured Environments Using an Imaging Sonar

• Main Authors: Ribas, David (Author), Ridao, Pere (Author), Neira, José (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Series: Springer Tracts in Advanced Robotics, 65
• Subjects: Engineering.; Artificial intelligence.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).

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 environments, with special attention to localization techniques but, particularly, to the application of SLAM...

Table of Contents:

• State of the Art
• Design and Development of the Ictineu AUV
• Understanding Mechanically Scanned Imaging Sonars
• Localization with an a priori Map
• Simultaneous Localization and Mapping
• Conclusion.