3D Mapping by a Robotic Fish with Two Mechanical Scanning Sonars

Ling Chen; Sen Wang; Huosheng Hu; Young-Sun Ryuh; Gi-Hun Yang

doi:10.1007/978-3-319-08338-4_50

3D Mapping by a Robotic Fish with Two Mechanical Scanning Sonars

Ling Chen, Sen Wang, Huosheng Hu, Young-Sun Ryuh, Gi-Hun Yang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

3D mapping is one of themost significant abilities for autonomous underwater vehicles (AUV). This paper proposes a 3Dmapping algorithm for a robotic fish using two mechanical scanning sonars (MSSs) with one being forward-looking and the other downward-looking. Combined with inertial measurement unit (IMU), the forward-lookingMSSis used for 2DSLAM(simultaneous localization and mapping) by which the 2D poses of the vehicle are optimally obtained by applying a pose-based GraphSLAM. Based on the estimated 2D poses, depth and orientation, the measurements from the downward-looking sonar are used to build the 3D map by adapting 3D mapping algorithm Octomap while taking into account the pose uncertainty. The effectiveness of the proposed algorithm is verified by extensive simulations which also show that it can generate more informative 3D map than the scenario where no uncertainty of poses is considered.

Original language	English
Title of host publication	International Conference on Intelligent Autonomous Systems (IAS)
Place of Publication	New York (New York)
Publisher	Springer
Pages	691-703
Number of pages	13
DOIs	https://doi.org/10.1007/978-3-319-08338-4_50
Publication status	Published - 2015

Access to Document

10.1007/978-3-319-08338-4_50

https://link.springer.com/content/pdf/10.1007/978-3-319-08338-4_50.pdf

Cite this

@inproceedings{b39003e3d3a743b9a4757e8b2f7f5f88,

title = "3D Mapping by a Robotic Fish with Two Mechanical Scanning Sonars",

abstract = "3D mapping is one of themost significant abilities for autonomous underwater vehicles (AUV). This paper proposes a 3Dmapping algorithm for a robotic fish using two mechanical scanning sonars (MSSs) with one being forward-looking and the other downward-looking. Combined with inertial measurement unit (IMU), the forward-lookingMSSis used for 2DSLAM(simultaneous localization and mapping) by which the 2D poses of the vehicle are optimally obtained by applying a pose-based GraphSLAM. Based on the estimated 2D poses, depth and orientation, the measurements from the downward-looking sonar are used to build the 3D map by adapting 3D mapping algorithm Octomap while taking into account the pose uncertainty. The effectiveness of the proposed algorithm is verified by extensive simulations which also show that it can generate more informative 3D map than the scenario where no uncertainty of poses is considered.",

author = "Ling Chen and Sen Wang and Huosheng Hu and Young-Sun Ryuh and Gi-Hun Yang",

year = "2015",

doi = "10.1007/978-3-319-08338-4_50",

language = "English",

pages = "691--703",

booktitle = "International Conference on Intelligent Autonomous Systems (IAS)",

publisher = "Springer",

}

TY - GEN

T1 - 3D Mapping by a Robotic Fish with Two Mechanical Scanning Sonars

AU - Chen, Ling

AU - Wang, Sen

AU - Hu, Huosheng

AU - Ryuh, Young-Sun

AU - Yang, Gi-Hun

PY - 2015

Y1 - 2015

N2 - 3D mapping is one of themost significant abilities for autonomous underwater vehicles (AUV). This paper proposes a 3Dmapping algorithm for a robotic fish using two mechanical scanning sonars (MSSs) with one being forward-looking and the other downward-looking. Combined with inertial measurement unit (IMU), the forward-lookingMSSis used for 2DSLAM(simultaneous localization and mapping) by which the 2D poses of the vehicle are optimally obtained by applying a pose-based GraphSLAM. Based on the estimated 2D poses, depth and orientation, the measurements from the downward-looking sonar are used to build the 3D map by adapting 3D mapping algorithm Octomap while taking into account the pose uncertainty. The effectiveness of the proposed algorithm is verified by extensive simulations which also show that it can generate more informative 3D map than the scenario where no uncertainty of poses is considered.

AB - 3D mapping is one of themost significant abilities for autonomous underwater vehicles (AUV). This paper proposes a 3Dmapping algorithm for a robotic fish using two mechanical scanning sonars (MSSs) with one being forward-looking and the other downward-looking. Combined with inertial measurement unit (IMU), the forward-lookingMSSis used for 2DSLAM(simultaneous localization and mapping) by which the 2D poses of the vehicle are optimally obtained by applying a pose-based GraphSLAM. Based on the estimated 2D poses, depth and orientation, the measurements from the downward-looking sonar are used to build the 3D map by adapting 3D mapping algorithm Octomap while taking into account the pose uncertainty. The effectiveness of the proposed algorithm is verified by extensive simulations which also show that it can generate more informative 3D map than the scenario where no uncertainty of poses is considered.

UR - http://repository.essex.ac.uk/14424/

UR - http://cswww.essex.ac.uk/staff/hhu/Papers/IAS-2014-691-703.pdf

U2 - 10.1007/978-3-319-08338-4_50

DO - 10.1007/978-3-319-08338-4_50

M3 - Conference contribution

SP - 691

EP - 703

BT - International Conference on Intelligent Autonomous Systems (IAS)

PB - Springer

CY - New York (New York)

ER -

3D Mapping by a Robotic Fish with Two Mechanical Scanning Sonars

Abstract

Access to Document

Other files and links

Fingerprint

Cite this