MSISpIC: a probabilistic scan matching algorithm using a mechanical scanned imaging sonar
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Autores: Emili Hernández Bes, Pere Ridao Rodríguez
, David Ribas Romagós, Joan Batlle Grabulosa
- Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 3, Nº. 1, 2009, págs. 3-11
- Idioma: inglés
- DOI: 10.14198/jopha.2009.3.1.02
- Enlaces
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Resumen
This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results.
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