Real-time algorithms and data structures for underwater mapping

As part of the Multiple Autonomous Underwater Vehicle Project, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The system is composed of multiresolution depth maps designed to integrate sensor data with an a priori model, an object/attribute database for storing information about detected objects, and a set of flags to monitor abnormal or emergency conditions in the environment. The structure of the mapping system and the algorithms used to map terrain and obstacles detected by acoustic sonar are described.<
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