Abstract:
This paper addresses relative navigation of unmanned surface vehicles (USVs) under marine floating structures where GPS signals are severely deteriorated or not available...Show MoreMetadata
Abstract:
This paper addresses relative navigation of unmanned surface vehicles (USVs) under marine floating structures where GPS signals are severely deteriorated or not available. An onboard 3D lidar collects point cloud of the structures and planar surfaces of their column structures are detected and used as landmark features in the framework of simultaneous localization and mapping (SLAM). The feasibility of the proposed method has been demonstrated in field experiments.
Published in: 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Date of Conference: 28-30 October 2015
Date Added to IEEE Xplore: 17 December 2015
ISBN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Production Platform ,
- Simultaneous Localization And Mapping ,
- Autonomous Surface Vehicles ,
- Semi-submersible Platform ,
- Field Experiments ,
- Point Cloud ,
- Global Positioning System ,
- Framework Features ,
- Global Positioning System Signal ,
- Surface Structure ,
- Extended Kalman Filter ,
- Inertial Navigation ,
- Planar Features
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Production Platform ,
- Simultaneous Localization And Mapping ,
- Autonomous Surface Vehicles ,
- Semi-submersible Platform ,
- Field Experiments ,
- Point Cloud ,
- Global Positioning System ,
- Framework Features ,
- Global Positioning System Signal ,
- Surface Structure ,
- Extended Kalman Filter ,
- Inertial Navigation ,
- Planar Features
- Author Keywords
