Contributions to robotic underwater perception and mapping based navigation

Abstract

XVIII partial SSS image pairs where contains landmark pairs 1 and 2 ………… 5.1 A robot measuring relative observations to environmental landmarks……... 5.2 The flowchart of the SLAM process………………………………………... 5.3 The SLAM graphical model, redrawn after [123]………………………….. 5.4 (a) Before closing the loop; (b) After closing the loop……………………... 5.5 The AEKF estimator………………………………………………………... 5.6 The flow chart of SLAM procedure based on an AEKF…………………… 5.7 The architecture of AEKF-SLAM based robotic navigation system, as in [9]…………………………………………………………………………… 5.8 The robot motion model…………………………………………………….. 5.9 The robot observation model……………………………………………….. 6.1 The robot is observing the landmarks A and B in the AEKF-SLAM dense loop map; (b) The robot is getting measurements A and B in the FastSLAM 2.0 dense loop map………………………………………………………….. 6.2 (a) Partial magnification of the AEKF-SLAM line map; (b) Partial magnification of the FastSLAM 2.0 line map………………………………. 6.3 (a) The robot is observing the centroids of certain parts of the body before loop closure; (b) The final AEKF-SLAM loop map where the landmarks are detected by the improved Otsu TSM……………………………………. 6.4 (a) The robot is observing the centroids of certain parts of the body before loop closure; (b) The final AEKF-SLAM loop map where the landmarks are detected by the maximum entropy TSM………………………………... 6.5 The simulated SWARMs vehicles………………………………………….. 6.6 Link all the actors for landmark localization and seabed mapping in the SWARMs project…………………………………………………………… XIX