DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jang, Junwoo | ko |
dc.contributor.author | Kim, Jinwhan | ko |
dc.date.accessioned | 2022-02-17T06:43:05Z | - |
dc.date.available | 2022-02-17T06:43:05Z | - |
dc.date.created | 2022-02-17 | - |
dc.date.created | 2022-02-17 | - |
dc.date.created | 2022-02-17 | - |
dc.date.issued | 2022-01 | - |
dc.identifier.citation | IEEE ACCESS, v.10, pp.10806 - 10815 | - |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | http://hdl.handle.net/10203/292261 | - |
dc.description.abstract | In a Global Navigation Satellite System (GNSS)-restricted area, a mobile robot navigation system exploits surrounding environment information. For an aerial or underwater vehicle, undulating terrain of a land or seabed surface is a valuable information resource that leads to the development of terrain-referenced navigation (TRN) algorithms. However, due to the vast amount of a vehicle's activity area, surveying all the regions to obtain a high-resolution terrain map is impractical and requires simultaneous localization and mapping (SLAM) as a highly desirable capability. This paper presents a topographic SLAM algorithm using only a single terrain altimeter, which is low-cost, computationally efficient, and sufficiently stable for long-term operation. The proposed rectangular panel map structure and update method enable robust and efficient SLAM. As terrain elevation changes are inherently nonlinear, an extended Kalman filter (EKF)-based SLAM filter is adopted. The feasibility and validity of the proposed algorithm are demonstrated through simulations using terrain elevation data from a real-world undersea environment. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Topographic SLAM Using a Single Terrain Altimeter in GNSS-Restricted Environment | - |
dc.type | Article | - |
dc.identifier.wosid | 000750224700001 | - |
dc.identifier.scopusid | 2-s2.0-85123716414 | - |
dc.type.rims | ART | - |
dc.citation.volume | 10 | - |
dc.citation.beginningpage | 10806 | - |
dc.citation.endingpage | 10815 | - |
dc.citation.publicationname | IEEE ACCESS | - |
dc.identifier.doi | 10.1109/ACCESS.2022.3145978 | - |
dc.contributor.localauthor | Kim, Jinwhan | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Simultaneous localization and mapping | - |
dc.subject.keywordAuthor | Navigation | - |
dc.subject.keywordAuthor | Global navigation satellite system | - |
dc.subject.keywordAuthor | Sensors | - |
dc.subject.keywordAuthor | Surface topography | - |
dc.subject.keywordAuthor | Kalman filters | - |
dc.subject.keywordAuthor | Sea measurements | - |
dc.subject.keywordAuthor | Terrain-referenced navigation | - |
dc.subject.keywordAuthor | simultaneous localization and mapping | - |
dc.subject.keywordAuthor | extended Kalman filter | - |
dc.subject.keywordAuthor | topography | - |
dc.subject.keywordAuthor | bathymetry | - |
dc.subject.keywordAuthor | autonomous underwater vehicle | - |
dc.subject.keywordPlus | SIMULTANEOUS LOCALIZATION | - |
dc.subject.keywordPlus | UNDERWATER VEHICLES | - |
dc.subject.keywordPlus | NAVIGATION | - |
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