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Accession Number ADA584118
Title Toward Lifelong Visual Localization and Mapping.
Publication Date Jun 2013
Media Count 186p
Personal Author H. Johannsson
Abstract In this thesis we address the problem of the temporal scalability of pose graphs models for long-term simultaneous localization and mapping (SLAM). We present a SLAM system using two different sensor modalities: imaging sonars for underwater navigation and vision based SLAM for terrestrial applications. In the underwater domain we consider two different applications. First, we describe our implementation of real-time imaging sonar aided navigation applied to in-situ autonomous ship hull inspection using the hovering autonomous underwater vehicle (HAUV). Second, we develop a feature-based navigation system supporting multi-session mapping, and provide an algorithm for re-localizing the vehicle between missions. We use a pose graph representation for the mapping. One of the problems with the pose graph formulation is that the state space continuously grows as more information is acquired. To address this we propose the reduced pose graph (RPG) model which partitions the space to be mapped and uses the partitions to reduce the number of poses used for estimation. To evaluate our approach, we present results using an online binocular visual SLAM system. We demonstrate long-term mapping using approximately nine hours of data collected in the MIT Stata Center, demonstrating mapping of a large environment an extended period of time.
Keywords Autonomous navigation
Autonomous underwater vehicles
Feature-based navigation
Forward looking sonar
Imaging sonar
Long range(Time)
Monte carlo localization
Multi-session operations
Place recognition
Real time
Reduced pose graph
Sensor fusion
Ship hull inspection
Slam(Simultaneous localization and mapping)
Underwater navigation
Underwater vehicles
Visual detection

Source Agency Non Paid ADAS
NTIS Subject Category 62 - Computers, Control & Information Theory
47A - Marine Engineering
63A - Acoustic Detection
76D - Navigation Systems
41C - Robotics/Robots
41N - Computer Software
82B - Photographic Techniques & Equipment
63H - Radiofrequency Detection
Corporate Author Massachusetts Inst. of Tech., Cambridge. Joint Program in Applied Ocean Science and Engineering.
Document Type Thesis
Title Note Doctoral thesis.
NTIS Issue Number 1402
Contract Number N00014-05-1-0244 N00014-11-1-0119

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