Publication Detail

Stochastic Mapping Using Forward Look Sonar.

John Leonard, Robert N. Carpenter, Hans Jacob S. Feder
14 pp.
MITSG 03-14J
$5.50 (domestic); 7.50 (international). DOM

In this paper, scientists investigate some of the issues encountered in testing of concurrent mapping and localization (CML) algorithms for use on autonomous underwater vehicles. The stochastic mapping method for CML is applied to data acquired in Narragansett Bay, Rhode Island, with the US Navy high resolution array forward look imaging sonar. Features are extracted from the sonar images, and supplied as input to the CML algorithm. goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle.

type: Technical reports

Parent Project

Project No.: 1999-RCM-3
Title: Integrated Mapping and Navigation for Autonomous Underwater Vehicles

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