Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
A Simulation of Real-time Seabed Mapping using Multi-Beam Echo Sounder Measurement Model다중빔음향측심기 계측모델을 활용한 실시간 해저지형도 작성 모의시험
- Other Titles
- 다중빔음향측심기 계측모델을 활용한 실시간 해저지형도 작성 모의시험
- Authors
- Lee, Y.; Lim, Y.-J.; Yeu, T.-K.; Lee, S.; Jung, J.; Park, D.; Han, J.-B.
- Issue Date
- 5월-2022
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Iterative Closest Point; Measurement Model; Multibeam Echo Sounder; Robot Operating System; Seabed Mapping
- Citation
- Journal of Institute of Control, Robotics and Systems, v.28, no.5, pp 436 - 443
- Pages
- 8
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 28
- Number
- 5
- Start Page
- 436
- End Page
- 443
- ISSN
- 1976-5622
- Abstract
- This paper proposes a measurement model of Multi-Beam Echo Sounder (MBES) for seabed mapping and introduces the result of conducting a seabed mapping simulation test in the Robot Operating System (ROS) middleware environment. The simulation test consists of four techniques: proposed measurement model of multibeam echo sounder, path generator by vehicle model, local-map generator, and Iterative Closest Point (ICP) based map registration for the global mapping. Seabed map information is handled in the form of the point cloud, and the ROS Rviz is used to visualize the simulation test results. ？ ICROS 2022.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - ETC > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.