Pose-graph based indoor navigation test for unmanned underwater vehicle navigation

Abstract

This paper presents a preliminary experimental result of testing pose-graph based indoor navigation for the purpose of application to unmanned underwater vehicles (UUV). To verify the usefulness and to estimate the performance of the pose-graph technique, we conduct an indoor test using a ground robot kobuki [1]. In this experiment, the robot travels indoor at an office and at a corridor. This allows creating a pose-graph of robot path continuously and building a map using a light detection and ranging (LIDAR) sensor at the front of the robot, simultaneously.