Dariush Forouher

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A lot of research has been done in the area of Simultaneous Localization and Mapping (SLAM). It is particularly challenging in underwater environments where many of the self-localization methods used at land no longer work. This paper presents a method to use a rotating scanning sonar as the sole sensor to perform SLAM in harbors or natural waterways. We(More)
Depth cameras have gained much popularity in robotics in recent years. The Microsoft Kinect camera enables a mobile robot to do essential tasks like localization and navigation. Unfortunately, such structured light cameras also suffer from limitations. Exposing them to direct sunlight renders them blind, and transparent objects like glass windows can not be(More)
—This paper describes the University of L ¨ ubeck's entry to the 2011 SAUCE competition. Our AUV HANSE has been specifically designed for the SAUCE competition by students in practical courses and master thesis' throughout the last three years. Besides the thrusters, sonars, and the orientation sensor, it is built of commercially available commodity(More)
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