Real-time algorithms and data structures for underwater mapping

  title={Real-time algorithms and data structures for underwater mapping},
  author={David N. Oskard and Tsai Hong and Clifford A. Shaffer},
  journal={IEEE Trans. Systems, Man, and Cybernetics},
As part of the multiple autonomous underwater vehicle ( M A W ) project at the National Institute of Standards and Technology, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The sysManuscript received March X. 19x9: revised January IO. 1990. This work was partially presented ;it the SPIE Conierence on Sensor Fusion in Cambridge, MA. November I9XX. D. N. Oskard is with the Robot Systems Division, National Institute… CONTINUE READING
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