Title :
Real-time algorithms and data structures for underwater mapping
Author :
Oskard, David N. ; Hong, Tsai-Hong ; Shaffer, Clifford A.
Author_Institution :
Robot Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
Abstract :
As part of the Multiple Autonomous Underwater Vehicle Project, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The system is composed of multiresolution depth maps designed to integrate sensor data with an a priori model, an object/attribute database for storing information about detected objects, and a set of flags to monitor abnormal or emergency conditions in the environment. The structure of the mapping system and the algorithms used to map terrain and obstacles detected by acoustic sonar are described
Keywords :
computer vision; marine systems; mobile robots; state estimation; Multiple Autonomous Underwater Vehicle Project; abnormal conditions; autonomous navigation; emergency conditions; multiresolution depth maps; object/attribute database; spatial mapping system; underwater environment; underwater mapping; Acoustic sensors; Acoustic signal detection; Data structures; Navigation; Sensor phenomena and characterization; Sensor systems; Sonar detection; Spatial databases; Spatial resolution; Underwater vehicles;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
