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Sensors 2012, 12(6), 7855-7885; doi:10.3390/s120607855
Article

The UspIC: Performing Scan Matching Localization Using an Imaging Sonar

* ,
 and
Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Ctra. de Valldemossa Km. 7.5, 07122 Palma de Mallorca, Illes Balears, Spain
* Author to whom correspondence should be addressed.
Received: 27 April 2012 / Revised: 31 May 2012 / Accepted: 5 June 2012 / Published: 8 June 2012
(This article belongs to the Section Physical Sensors)

Abstract

This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the uspIC, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided.
Keywords: imaging sonar; underwater robotics; localization; scan matching imaging sonar; underwater robotics; localization; scan matching
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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Burguera, A.; González, Y.; Oliver, G. The UspIC: Performing Scan Matching Localization Using an Imaging Sonar. Sensors 2012, 12, 7855-7885.

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