Feature based SLAM using side-scan salient objects

Josep Aulinas, Xavier Lladó, Joaquim Salvi, Yvan R. Petillot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

Different underwater vehicles have been developed in order to explore underwater regions, specially those of difficult access for humans. Autonomous Underwater Vehicles (AUVs) are equipped with on-board sensors, which provide valuable information about the vehicle state and the environment. This information is used to build an approximate map of the area and estimate the position of the vehicle within this map. This is the so called Simultaneous Localization and Mapping (SLAM) problem. In this paper we propose a feature based submapping SLAM approach which uses side-scan salient objects as landmarks for the map building process. The detection of salient features in this environment is a complex task, since sonar images are noisy. We present in this paper an algorithm based on a set of image preprocessing steps and the use of a boosted cascade of Haar-like features to perform the automatic detection in side-scan images. Our experimental results show that the method produces consistent maps, while the vehicle is precisely localized. ©2010 IEEE.

Original languageEnglish
Title of host publicationMTS/IEEE Seattle, OCEANS 2010
DOIs
Publication statusPublished - 2010
EventMTS/IEEE Seattle, OCEANS 2010 - Seattle, WA, United States
Duration: 20 Sep 201023 Sep 2010

Conference

ConferenceMTS/IEEE Seattle, OCEANS 2010
CountryUnited States
CitySeattle, WA
Period20/09/1023/09/10

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