Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

@article{Mallios2009PosebasedSW,
  title={Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar},
  author={Angelos Mallios and Pere Ridao and Emili Hern{\'a}ndez and David Ribas and Francesco Maurelli and Yvan R. Petillot},
  journal={OCEANS 2009-EUROPE},
  year={2009},
  pages={1-6}
}
This paper proposes a pose-based algorithm to solve the full SLAM problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanning Imaging Sonar (MSIS) and the robot dead-reckoning displacements… CONTINUE READING