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

The UspIC: Performing Scan Matching Localization Using an Imaging Sonar

* ,
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)


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) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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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