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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/4550

Title: Point features extraction: towards slam for an autonomous underwater vehicle
Authors: Matsebe, O
Namoshe, M
Tlale, N
Keywords: Simultaneous Localisation and Mapping
SLAM
Point features
Imaging sonar
Feature extraction
Mechanically scanned imaging sonar
Autonomous Underwater Vehicle
AUV
Robotics
Issue Date: Jul-2010
Citation: Matsebe, O, Namoshe, M and Tlale, N. 2010. Point features extraction: towards slam for an autonomous underwater vehicle. 25th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010, pp 11
Series/Report no.: Conference Paper
Abstract: Simultaneous Localisation and Mapping (SLAM) is a process by which a mobile robot maps the environment and concurrently localises itself within the map. Feature extraction is a technique by which sensor data is processed to obtain well defined entities (features) which are recognisable and can be repeatedly detected. These features are then used to aid navigation. In this paper, Mechanically Scanned Imaging Sonar (MSIS) is used to perform scans of the environment. The information returned is then used to detect point features from data collected in a swimming pool. Artificial landmarks were introduced into the environment to obtain identifiable and stable features. This work is part of the authors efforts to develop a SLAM system to be utilised in an Autonomous Underwater Vehicle (AUV).
Description: 25th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010
URI: http://hdl.handle.net/10204/4550
ISBN: 9780620465823
Appears in Collections:Manufacturing science and technology
General science, engineering & technology

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