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Stochastic mapping using forward look sonar

Published online by Cambridge University Press:  04 September 2001

John L. Leonard ,
Robert N. Carpenter  and
Hans Jacob S. Feder
John L. Leonard
Affiliation:
Massachusetts Institute of Technology, 77 Mass Ave., Cambridge, MA 02139 (USA)jleonard@mit.edu
Robert N. Carpenter
Affiliation:
Naval Undersea Warfare Center, Newport, RI 02841 (USA)carpenterrn@code80.npt.nuwc.navy.mil
Hans Jacob S. Feder
Affiliation:
Massachusetts Institute of Technology, 77 Mass Ave., Cambridge, MA 02139 (USA)hjfeder@alum.mit.edu
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Abstract

This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and localization algorithms to satisfy the navigation requirements of undersea vehicles equipped with forward look sonar.

Keywords

Stochastic mappingForward look sonarOceanic dataVehicle trajectoryNavigation
Type
Research Article
Information
Robotica , Volume 19 , Issue 5 , September 2001 , pp. 467 - 480
Copyright
© 2001 Cambridge University Press

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