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Simultaneous localization and mapping (SLAM) is of prime importance for navigation problem of autonomous underwater vehicle. Currently EKF-based SLAM and particle filter-based SLAM are prevalent methods though they have their own deficiency respectively. In this paper a modified RBPF method is proposed to apply in navigation and localization for our(More)
  • Bo He, Nini Yu
  • 2009
Navigation and localization with high precision has been one of most critical issues for the safety and effective completion of missions of autonomous underwater vehicles. Since the underwater environment is extremely complex and the external sensors of what can be used are limited to only sonar, as well as information obtained has too much noise and(More)
Autonomous underwater vehicle (AUV) has to face many intractable problems while implementing indeed autonomy. In the past years the method of simultaneous localization and mapping (SLAM) has prevailed and provided a feasible way to autonomous navigation. Loop-closing problems of AUV are discussed in this paper. Loop-closing is to identify that AUV has(More)
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