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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
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9285
DOI
10.5302/J.ICROS.2022.22.0020
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.
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