The aim of this paper is to propose a technique for Simultaneous Localization and Mapping in underwater environments by means of acoustic sensors. The proposed procedure consists in the application of suitable Neural Network and Iterative Closest Point algorithms for objects detection, agent localization and map construction. General Regression Neural Network and improved ICP algorithms are implemented in order to process sonar data, to minimize the computational time and to maximize efficiency in localization tasks without using dynamical models of the agent. Experimental tests have been performed in a simple, structured static environment collecting data by means of a single-beam, mechanically scanning sonar. Results show good performances of the procedures in simple but meaningful situations. Copyright © 2008 by The International Society of Offshore and Polar Engineers (ISOPE).
Underwater SLAM with ICP Localization and Neural Network Objects Classification, Proc. ISOPE 2008 / Conte, Giuseppe; Scaradozzi, David; Zanoli, Silvia Maria; Gambella, Luca; Marani, Giammarco. - 2008:(2008), pp. 351-357. (Intervento presentato al convegno 18th International Offshore and Polar Engineering Conference, ISOPE 2008 tenutosi a Vancouver, BC; Canada nel 6 July 2008 through 11 July 2008).
Underwater SLAM with ICP Localization and Neural Network Objects Classification, Proc. ISOPE 2008
CONTE, GIUSEPPE
;SCARADOZZI, David
;ZANOLI, Silvia Maria
;GAMBELLA, Luca;
2008-01-01
Abstract
The aim of this paper is to propose a technique for Simultaneous Localization and Mapping in underwater environments by means of acoustic sensors. The proposed procedure consists in the application of suitable Neural Network and Iterative Closest Point algorithms for objects detection, agent localization and map construction. General Regression Neural Network and improved ICP algorithms are implemented in order to process sonar data, to minimize the computational time and to maximize efficiency in localization tasks without using dynamical models of the agent. Experimental tests have been performed in a simple, structured static environment collecting data by means of a single-beam, mechanically scanning sonar. Results show good performances of the procedures in simple but meaningful situations. Copyright © 2008 by The International Society of Offshore and Polar Engineers (ISOPE).I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
