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Deep-sea AUV navigation using side-scan sonar images and SLAM
2010
OCEANS'10 IEEE SYDNEY
Navigating an autonomous underwater vehicle (AUV) is a difficult task. Dead-reckoning navigation is subject to unbounded error due to sensor inaccuracies and is inapplicable for mission durations longer than a few minutes. To limit the estimation errors a global referencing method has to be used. SLAM (Simultaneous Localization And Mapping) is such a method. It uses repeated recognition of significant features of the environment to reduce the estimation error. Devices for environment sensing
doi:10.1109/oceanssyd.2010.5603528
fatcat:6y4ubkr3v5cyjbht5xofeh4sae