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We propose a submap-based technique for mapping of underwater structures with complex geometries. Our approach relies on the use of probabilistic volumetric techniques to create submaps from multibeam sonar scans, as these offer increased outlier robustness. Special attention is paid to the problem of denoising/enhancing sonar data. Pairwise submap alignment constraints are used in a factor graph...
Many online inference problems in robotics and AI are characterized by probability distributions whose factor graph representations are sparse. While there do exist some computationally efficient algorithms (e.g. incremental smoothing and mapping (iSAM) or Robust Incremental least-Squares Estimation (RISE)) for performing online incremental maximum likelihood estimation over these models, they generally...
In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach only uses onboard sensors in a simultaneous localization...
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