000 02827nam a22004935i 4500
001 978-3-642-14040-2
003 DE-He213
005 20140220084541.0
007 cr nn 008mamaa
008 100728s2010 gw | s |||| 0|eng d
020 _a9783642140402
_9978-3-642-14040-2
024 7 _a10.1007/978-3-642-14040-2
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aRibas, David.
_eauthor.
245 1 0 _aUnderwater SLAM for Structured Environments Using an Imaging Sonar
_h[electronic resource] /
_cby David Ribas, Pere Ridao, José Neira.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2010.
300 _a150p. 43 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v65
505 0 _aState of the Art -- Design and Development of the Ictineu AUV -- Understanding Mechanically Scanned Imaging Sonars -- Localization with an a priori Map -- Simultaneous Localization and Mapping -- Conclusion.
520 _aThis monograph presents different techniques developed with the objective of providing a solution to the navigation problem for Autonomous Underwater Vehicles (AUVs) operating in structured environments, with special attention to localization techniques but, particularly, to the application of SLAM (Simultaneous Localization And Mapping) techniques as a self-contained system which requires neither previous knowledge of the scenario nor the use of absolute positioning systems like GPS, LBL or USBL. This monograph presents techniques for feature extraction capable of dealing with the particular complexities of a mechanically scanned imaging sonar. The described approaches are designed for use in structured environments like those present in many industrial scenarios, specifically for scenarios containing manmade structures in the form of rectilinear walls like those met in harbours, breakwaters, marinas, canal systems, etc.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
700 1 _aRidao, Pere.
_eauthor.
700 1 _aNeira, José.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642140396
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v65
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-14040-2
912 _aZDB-2-ENG
999 _c112393
_d112393