Visually Augmented Navigation in an Unstructured Environment Using a Delayed State History
dc.contributor.author | Eustice, Ryan M. | en_US |
dc.contributor.author | Pizarro, Oscar | en_US |
dc.contributor.author | Singh, Hanumant | en_US |
dc.date.accessioned | 2011-08-18T18:24:39Z | |
dc.date.available | 2011-08-18T18:24:39Z | |
dc.date.issued | 2004-04-26 | en_US |
dc.identifier.citation | Eustice, R.; Pizarro, O.; Singh, H. (2004). "Visually Augmented Navigation in an Unstructured Environment Using a Delayed State History." Proceedings of the IEEE International Conference on Robotics and Automation: 25-32. <http://hdl.handle.net/2027.42/86055> | en_US |
dc.identifier.issn | 1050-4729 | en_US |
dc.identifier.uri | https://hdl.handle.net/2027.42/86055 | |
dc.description.abstract | This paper describes a framework for sensor fusion of navigation data with camera-based 5 DOF relative pose measurements for 6 DOF vehicle motion in an unstructured 3D underwater environment. The fundamental goal of this work is to concurrently sstimate online current vehicle position and its past trajectory. This goal is framed within the context of improving mobile robot navigation to support sub-sea science and exploration. Vehicle trajectory is represented by a history of poses in an augmented state Kalman filter. Camera spatial constraints from overlapping imagery provide partial observation of these posa and are used to enforce consislency and provide a mechanism for loop-closure. The multi-sensor camera+navigation framework is shown to have compelling advantages over a camera-only based approach by 1) improving the robustness of pairwise image registration, 2) setting the free gauge scale, and 3) allowing for a unconnected camera graph topology. Results are shown for a real world data set collected by an autonomous underwater vehicle in an unstructured undersea environment. | en_US |
dc.publisher | IEEE | en_US |
dc.title | Visually Augmented Navigation in an Unstructured Environment Using a Delayed State History | en_US |
dc.type | Article | en_US |
dc.subject.hlbsecondlevel | Naval Architecture and Marine Engineering | en_US |
dc.subject.hlbtoplevel | Engineering | en_US |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationother | MITNHOI Joint Program in Applied Ocean Science and Engineering Massachusetts Institute of Technology Cambridge, MA, USA. Department of Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Woods Hole, MA, USA. | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/86055/1/reustice-32.pdf | |
dc.identifier.doi | 10.1109/ROBOT.2004.1307124 | en_US |
dc.identifier.source | Proceedings of the IEEE International Conference on Robotics and Automation | en_US |
dc.owningcollname | Electrical Engineering and Computer Science, Department of (EECS) |
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