Terrain Modeling for Autonomous Underwater Navigation
- 24 August 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 502-511
- https://doi.org/10.1109/uust.1989.754742
Abstract
The main task of perception for autonomous vehicles is to build a representation of the observed environment in order to carry out a mission. in particular, terrain modeling, that is modeling the geometry of the environment observed by the vehicle's sensors, is crucial for autonomous underwater exploration. The purpose of this work is to analyze the components of the terrain modeling task, to investigate the algorithms and representations for this task, and to evaluate them in the context of real applications. Terrain representation is an issue that is of interest in many areas of mobile robotics, such as land vehicles, planetary explorers, etc. This paper surveys some of the ideas developed in those areas and their relevance to the underwater navigation problem. Terrain modeling is divided into three parts: structuring sensor data, extracting features, and merging and updating terrain models.Keywords
This publication has 9 references indexed in Scilit:
- Methods for Identifying Footfall Positions for a Legged RobotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Estimating Motion From Sparse Range Data Without CorrespondencePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- High resolution maps from wide angle sonarPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A non-deterministic approach to 3-D modeling underwaterPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- The extraction of topographic features in support of autonomous underwater vehicle navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Integration of sonar and stereo range data using a grid-based representationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- An operational perception system for cross-country navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Parallel Off-Road Perception Processing On The Autonomous Land VehiclePublished by SPIE-Intl Soc Optical Eng ,1989
- Perceptual organization and the representation of natural formArtificial Intelligence, 1986