Dynamic Sonar Perception

  title={Dynamic Sonar Perception},
  author={Richard J. Rikoski and John J. Leonard},
Reliable sonar perception is a prerequisite of marine robot feature-based navigation. The robot must be able to track, model, map, and recognize aspects of the underwater landscape without a priori knowledge. This thesis explores the tracking and mapping problems from the standpoint of observability. The first part of the thesis addresses observability in mapping and navigation. Features are often only partially observable from a single vantage point; consequently, they must be mapped from… CONTINUE READING
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