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This article presents a bathymetric SLAM (simultaneous localization and mapping) solution for underwater vehicles by addressing the registration of point clouds gathered from single line laser-based structured light systems. While structured light can be applied to generate millimetre resolution seafloor bathymetry, the accuracy of the maps generated is typically constrained by the localization accuracy...
This paper presents customized techniques for autonomous localization and mapping of micro Unmanned Aerial Vehicles flying in complex environments, e.g. unexplored, full of obstacles, GPS challenging or denied. The proposed algorithms are aimed at 2D environments and are based on the integration of 3D data, i.e. point clouds acquired by means of a laser scanner (LIDAR), and inertial data given by...
This paper presents a SLAM-based approach for creating maps of underwater terrain using AUVs with poor inertial information. The initial motivating application for this work was mapping in the non-inertial frame of a free-drifting Antarctic iceberg, but poor inertial information can also occur if low-cost, high drift inertial instrumentation is used in standard mapping tasks, or if DVL bottom lock...
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