Browsing by Subject "Simultaneous Localization and Mapping"
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Change Detection of Sea Floor Environment Using Side Scan Sonar Data For Online Simultaneous Localization and Mapping on Autonomous Underwater Vehicles
(2016-08-30)Autonomous underwater vehicles (AUVs) are frequently used to survey sea-floor environments using side-scan sonar technology. A simultaneous localization and mapping (SLAM) algorithm can be used with side-scan sonar data ... -
Seafloor Elevation Trends as Environmental Features for Data Association in Underwater Simultaneous Localization and Mapping
(2015)While critical to the Simultaneous Localization and Mapping (SLAM), process data association is often unreliable, especially so in a noisy, dynamic, underwater environment. This thesis presents a novel approach for data ...