DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chaves, Stephen M. | ko |
dc.contributor.author | Kim, Ayoung | ko |
dc.contributor.author | Galceran, Enric | ko |
dc.contributor.author | Eustice, Ryan M. | ko |
dc.date.accessioned | 2016-11-30T08:39:25Z | - |
dc.date.available | 2016-11-30T08:39:25Z | - |
dc.date.created | 2016-11-08 | - |
dc.date.created | 2016-11-08 | - |
dc.date.issued | 2016-10 | - |
dc.identifier.citation | AUTONOMOUS ROBOTS, v.40, no.7, pp.1245 - 1265 | - |
dc.identifier.issn | 0929-5593 | - |
dc.identifier.uri | http://hdl.handle.net/10203/214267 | - |
dc.description.abstract | This paper reports on an active SLAM framework for performing large-scale inspections with an underwater robot. We propose a path planning algorithm integrated with visual SLAM that plans loop-closure paths in order to decrease navigation uncertainty. While loop-closing revisit actions bound the robot's uncertainty, they also lead to redundant area coverage and increased path length. Our proposed opportunistic framework leverages sampling-based techniques and information filtering to plan revisit paths that are coverage efficient. We employ Gaussian process regression for modeling the prediction of camera registrations and use a two-step optimization procedure for selecting revisit actions. We show that the proposed method offers many benefits over existing solutions and good performance for bounding navigation uncertainty in long-term autonomous operations with hybrid simulation experiments and real-world field trials performed by an underwater inspection robot | - |
dc.language | English | - |
dc.publisher | SPRINGER | - |
dc.title | Opportunistic sampling-based active visual SLAM for underwater inspection | - |
dc.type | Article | - |
dc.identifier.wosid | 000385157300010 | - |
dc.identifier.scopusid | 2-s2.0-84979715854 | - |
dc.type.rims | ART | - |
dc.citation.volume | 40 | - |
dc.citation.issue | 7 | - |
dc.citation.beginningpage | 1245 | - |
dc.citation.endingpage | 1265 | - |
dc.citation.publicationname | AUTONOMOUS ROBOTS | - |
dc.identifier.doi | 10.1007/s10514-016-9597-6 | - |
dc.contributor.localauthor | Kim, Ayoung | - |
dc.contributor.nonIdAuthor | Chaves, Stephen M. | - |
dc.contributor.nonIdAuthor | Galceran, Enric | - |
dc.contributor.nonIdAuthor | Eustice, Ryan M. | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Active SLAM | - |
dc.subject.keywordAuthor | Sampling-based planning | - |
dc.subject.keywordAuthor | Gaussian processes | - |
dc.subject.keywordAuthor | Underwater robotics | - |
dc.subject.keywordPlus | SHIP HULL INSPECTION | - |
dc.subject.keywordPlus | BELIEF SPACE | - |
dc.subject.keywordPlus | SIMULTANEOUS LOCALIZATION | - |
dc.subject.keywordPlus | NAVIGATION | - |
dc.subject.keywordPlus | ENVIRONMENTS | - |
dc.subject.keywordPlus | EXPLORATION | - |
dc.subject.keywordPlus | UNCERTAINTY | - |
dc.subject.keywordPlus | COVARIANCE | - |
dc.subject.keywordPlus | PERCEPTION | - |
dc.subject.keywordPlus | ALGORITHMS | - |
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