TY  - BOOK
AU  - Ribas,David
AU  - Ridao,Pere
AU  - Neira,José
ED  - SpringerLink (Online service)
TI  - Underwater SLAM for Structured Environments Using an Imaging Sonar
T2  - Springer Tracts in Advanced Robotics,
SN  - 9783642140402
AV  - TJ210.2-211.495 
U1  - 629.892 23
PY  - 2010///
CY  - Berlin, Heidelberg
PB  - Springer Berlin Heidelberg
KW  - Engineering
KW  - Artificial intelligence
KW  - Robotics and Automation
KW  - Artificial Intelligence (incl. Robotics)
N1  - State of the Art -- Design and Development of the Ictineu AUV -- Understanding Mechanically Scanned Imaging Sonars -- Localization with an a priori Map -- Simultaneous Localization and Mapping -- Conclusion
N2  - This monograph presents different techniques developed with the objective of providing a solution to the navigation problem for Autonomous Underwater Vehicles (AUVs) operating in structured environments, with special attention to localization techniques but, particularly, to the application of SLAM (Simultaneous Localization And Mapping) techniques as a self-contained system which requires neither previous knowledge of the scenario nor the use of absolute positioning systems like GPS, LBL or USBL. This monograph presents techniques for feature extraction capable of dealing with the particular complexities of a mechanically scanned imaging sonar. The described approaches are designed for use in structured environments like those present in many industrial scenarios, specifically for scenarios containing manmade structures in the form of rectilinear walls like those met in harbours, breakwaters, marinas, canal systems, etc
UR  - http://148.231.10.114:2048/login?url=http://link.springer.com/book/10.1007/978-3-642-14040-2
ER  -