Imaging sonar-aided navigation for autonomous underwater harbor surveillance

Imaging sonar-aided navigation for autonomous underwater harbor surveillance

In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring cov...

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Bibliographic Details
Main Authors: Johannsson, Hordur (Contributor), Kaess, Michael (Contributor), Englot, Brendan J. (Contributor), Hover, Franz S. (Contributor), Johnson, Leonard M. (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2013-04-29T20:16:05Z.
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