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 proceedingConference contribution

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 languageEnglish
Title of host publicationInternational Conference on Intelligent Autonomous Systems (IAS)
Place of PublicationNew York (New York)
PublisherSpringer
Pages691-703
Number of pages13
DOIs
Publication statusPublished - 2015

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    Chen, L., Wang, S., Hu, H., Ryuh, Y-S., & Yang, G-H. (2015). 3D Mapping by a Robotic Fish with Two Mechanical Scanning Sonars. In International Conference on Intelligent Autonomous Systems (IAS) (pp. 691-703). Springer. https://doi.org/10.1007/978-3-319-08338-4_50