Underwater SLAM in man-made structured environments

Abstract

This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas, and marine platforms. A mechanically scanned imaging sonar is used to obtain information about the location of vertical planar structures present in such environments. A robust voting algorithm has been… (More)
DOI: 10.1002/rob.20249

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