Experiments on localization of an AUV using graph-based SLAM

@article{Lee2013ExperimentsOL,
  title={Experiments on localization of an AUV using graph-based SLAM},
  author={Donghwa Lee and Donghoon Kim and Sangwon Lee and Hyun Myung and Hyun-Taek Choi},
  journal={2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)},
  year={2013},
  pages={526-527}
}
This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an… CONTINUE READING

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