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This contribution aims at unifying two recent trends in applied particle filtering (PF). The first trend is the major impact in simultaneous localization and mapping (SLAM) applications, utilizing the FastSLAM algorithm. The second one is the implications of the marginalized particle filter (MPF) or the Rao-Blackwellized particle filter (RBPF) in positioning and tracking applications. Using the standard...
The aim of this paper is to explore the possibility of using geo-referenced satellite or aerial images to augment an Unmanned Aerial Vehicle (UAV) navigation system in case of GPS failure. A vision based navigation system which combines inertial sensors, visual odometer and registration of a UAV on-board video to a given geo-referenced aerial image has been developed and tested on real flight-test...
This paper summarizes the work done on the development of a module to interface a commercial mechanical scan sonar within an ROV control architecture and its integration with the other modules. The sonar module fulfills the scope of endowing the ROV with an open tool for the management of the sonar setting, adapting sonar performances to the specific mission requirement. In particular, this work is...
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