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Experiments on localization of an AUV using graph-based SLAM

Authors
Lee, D.Kim, D.Lee, S.Myung, H.Choi, H.-T.
Issue Date
2013
Publisher
IEEE Computer Society
Keywords
AUV; EKF-based SLAM; graph-based SLAM; SLAM; underwater localization
Citation
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, pp 526 - 527
Pages
2
Journal Title
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Start Page
526
End Page
527
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8774
DOI
10.1109/URAI.2013.6677329
ISSN
0000-0000
Abstract
This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKF-based SLAM result. ? 2013 IEEE.
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