Laser Stripe Bathymetry using Particle Filter SLAM
Laser Stripe Bathymetry using Particle Filter SLAM
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DOI：
10.1109/oceanse.2019.8867106
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发表时间：
2019-06
期刊：
影响因子：
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通讯作者：
M. Massot-Campos;Gabriel Oliver-Codina;B. Thornton
中科院分区：
文献类型：
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作者：
M. Massot-Campos;Gabriel Oliver-Codina;B. Thornton
本文提出了一种新的应用BPSLAM从Barkby等人[1]，水下激光测绘。BP-SLAM是一种无特征的测深制图算法，它使用分布式粒子映射和Rao-Backwelized粒子滤波器（RBPF）来处理导航估计和海底测深估计。通过对粒子群算法中的粒子进行最大自洽映射加权，实现了对地形图和机器人导航的校正。
This paper presents a novel application of BPSLAM from Barkby et al [1], onto underwater laser mapping. BP-SLAM is a featureless bathymetry mapping algorithm that uses Distributed Particle Mapping and a Rao-Backwelized Particle Filter (RBPF) to handle both navigational estimates and seafloor bathymetry estimates. By weighting the particles in the RBPF with the most self-consistent map, the bathymetric maps and the robot navigation are corrected.