Accession Number:

AD1015537

Title:

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

Descriptive Note:

Technical Report

Corporate Author:

University of Michigan Ann Arbor United States

Personal Author(s):

Report Date:

2016-01-01

Pagination or Media Count:

174.0

Abstract:

This thesis reports on the incorporation of surface information into a probabilistic simultaneous localization and mapping SLAM framework used on an autonomous underwater vehicle AUV designed for underwater inspection. AUVs operating in cluttered underwater environments, such as ship hulls or dams, are commonly equipped with Doppler based sensors, whichin addition to navigationprovide a sparse representation of the environment in the form of a three-dimensional 3D point cloud. The goal of this thesis is to develop perceptual algorithms that take full advantage of these sparse observations for correcting navigational drift and building a model of the environment. In

Subject Categories:

Distribution Statement:

APPROVED FOR PUBLIC RELEASE