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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
- 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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