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소나 영상을 이용한 확률적 물체 인식 및 수중 이동체의 위치 추정
이영준(Yeongjun Lee),최진우(Jinwoo Choi),최현택(Hyun-Teak Choi),김태진(Taejin Kim),윤미현(Mihyun Yun) 대한전기학회 2015 정보 및 제어 심포지엄 논문집 Vol.2015 No.4
This paper proposes a probability-based object recognition and underwater localization algorithm with artificial landmarks. It is organized as follows; 1) recognizing artificial objects 2) A look at EKF (Extended Kalman Filter) SLAM for localization. Acoustic images from imaging sonar are very unstable, for this reason we developed artificial landmarks that can easily be detected in noisy environments. We also designed a probability-based, recognition framework. In this way, the distance and bearing of the recognized artificial landmarks are acquired, allowing us to perform the localization for our underwater vehicle. And then, EKF-based localization algorithm is carried out the localization which produce a path of underwater robot and a location of landmarks. The proposed localization algorithm is verified by experiments in a basin.
소나 영상을 이용한 확률적 물체 인식 및 수중 이동체의 위치 추정
이영준(Yeongjun Lee),최진우(Jinwoo Choi),최현택(Hyun-Teak Choi),김태진(Taejin Kim),윤미현(Mihyun Yun) 대한전기학회 2015 대한전기학회 학술대회 논문집 Vol.2015 No.4
This paper proposes a probability-based object recognition and underwater localization algorithm with artificial landmarks. It is organized as follows; 1) recognizing artificial objects 2) A look at EKF (Extended Kalman Filter) SLAM for localization. Acoustic images from imaging sonar are very unstable, for this reason we developed artificial landmarks that can easily be detected in noisy environments. We also designed a probability-based, recognition framework. In this way, the distance and bearing of the recognized artificial landmarks are acquired, allowing us to perform the localization for our underwater vehicle. And then, EKF-based localization algorithm is carried out the localization which produce a path of underwater robot and a location of landmarks. The proposed localization algorithm is verified by experiments in a basin.