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

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; in revised form: 31 May 2012 / Accepted: 5 June 2012 / Published: 8 June 2012
(This article belongs to the Section Physical Sensors)
PDF Full-text Download PDF Full-Text [5719 KB, uploaded 8 June 2012 09:37 CEST]
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

Article Statistics

Load and display the download statistics.

Citations to this Article

Cite This Article

MDPI and ACS Style

Burguera, A.; González, Y.; Oliver, G. The UspIC: Performing Scan Matching Localization Using an Imaging Sonar. Sensors 2012, 12, 7855-7885.

AMA Style

Burguera A, González Y, Oliver G. The UspIC: Performing Scan Matching Localization Using an Imaging Sonar. Sensors. 2012; 12(6):7855-7885.

Chicago/Turabian Style

Burguera, Antoni; González, Yolanda; Oliver, Gabriel. 2012. "The UspIC: Performing Scan Matching Localization Using an Imaging Sonar." Sensors 12, no. 6: 7855-7885.

Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert