Visual sonar based localization using particle attraction and scattering

@article{Choi2005VisualSB,
  title={Visual sonar based localization using particle attraction and scattering},
  author={Young-Ho Choi and Se-Young Oh},
  journal={IEEE International Conference Mechatronics and Automation, 2005},
  year={2005},
  volume={1},
  pages={449-454 Vol. 1}
}
A novel real time algorithm for incremental localization is presented based on particle filtering and omnidirectional (360 degree) reconstruction of the environment in visual sonar mode. This omni-directional field of view is economically obtained by temporally accumulating forward views of a single camera which lends itself to alleviation of the perceptual aliasing problem. This algorithm basically draws upon the sampling concept of Monte Carlo localization and the particle attraction concept… CONTINUE READING