Bathymetric Pose Graph Optimization with Regularized Submap Matching
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3160190
Abstract: The quality of sonar seabed mapping performed using autonomous underwater vehicles depends on the accuracy of the vehicle trajectory estimation. To reduce the accumulated pose estimation errors from dead reckoning, bathymetry observations from sonar sensors… read more here.
Keywords: pose graph; graph optimization; regularized submap; optimization regularized ... See more keywords
Pose-Graph SLAM Using Forward-Looking Sonar
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2809510
Abstract: This letter reports on a real-time simultaneous localization and mapping (SLAM) algorithm for an underwater robot using an imaging forward-looking sonar and its application in the area of autonomous underwater ship hull inspection. The proposed… read more here.
Keywords: forward looking; looking sonar; pose graph; graph slam ... See more keywords
Time-Relative RTK-GNSS: GNSS Loop Closure in Pose Graph Optimization
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3003861
Abstract: A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to estimate… read more here.
Keywords: time; loop closure; pose graph; gnss ... See more keywords
A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3185779
Abstract: This paper proposes a computationally efficient method for pose-graph optimization that makes use of a multi-resolution representation of pose-graph transformation constructed on a spanning tree. It is shown that the proposed spanning tree-based hierarchy has… read more here.
Keywords: tree based; pose graph; graph optimization; spanning tree ... See more keywords