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Real‐Time SLAM withOctree Evidence Gridsfor Exploration inUnderwater Tunnels Nathaniel FairfieldGeorge KantorDavid Wettergreen2007 год

Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
статья из журнала

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Аннотация: Abstract We describe a simultaneous localization and mapping (SLAM) method for a hovering underwater vehicle that will explore underwater caves and tunnels, a true three‐dimensional (3D) environment. Our method consists of a Rao‐Blackwellized particle filter with a 3D evidence grid map representation. We describe a procedure for dynamically adjusting the number of particles to provide real‐time performance. We also describe how we adjust the particle filter prediction step to accommodate sensor degradation or failure. We present an efficient octree data structure that makes it feasible to maintain the hundreds of maps needed by the particle filter to accurately model large environments. This octree structure can exploit spatial locality and temporal shared ancestry between particles to reduce the processing and storage requirements. To test our SLAM method, we utilize data collected with manually deployed sonar mapping vehicles in the Wakulla Springs cave system in Florida and the Sistema Zacato´n in Mexico, as well as data collected by the DEPTHX vehicle in the test tank at the Austin Applied Research Laboratory. We demonstrate our mapping and localization approach with these real‐world datasets. © 2007 Wiley Periodicals, Inc.
Год издания: 2007
Авторы: Nathaniel Fairfield, George Kantor, David Wettergreen
Издательство: Wiley
Источник: Journal of Field Robotics
Ключевые слова: Robotics and Sensor-Based Localization, Indoor and Outdoor Localization Technologies, Underwater Vehicles and Communication Systems
Другие ссылки: Journal of Field Robotics (HTML)
CiteSeer X (The Pennsylvania State University) (PDF)
CiteSeer X (The Pennsylvania State University) (HTML)