Matsebe, ONamoshe, MTlale, N2010-11-112010-11-112010-07Matsebe, 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 119780620465823http://hdl.handle.net/10204/455025th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010Simultaneous 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).enSimultaneous Localisation and MappingSLAMPoint featuresImaging sonarFeature extractionMechanically scanned imaging sonarAutonomous Underwater VehicleAUVRoboticsConference PresentationMatsebe, O., Namoshe, M., & Tlale, N. (2010). Point features extraction: towards slam for an autonomous underwater vehicle. http://hdl.handle.net/10204/4550Matsebe, O, M Namoshe, and N Tlale. "Point features extraction: towards slam for an autonomous underwater vehicle." (2010): http://hdl.handle.net/10204/4550Matsebe O, Namoshe M, Tlale N, Point features extraction: towards slam for an autonomous underwater vehicle; 2010. http://hdl.handle.net/10204/4550 .TY - Conference Presentation AU - Matsebe, O AU - Namoshe, M AU - Tlale, N AB - 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). DA - 2010-07 DB - ResearchSpace DP - CSIR KW - Simultaneous Localisation and Mapping KW - SLAM KW - Point features KW - Imaging sonar KW - Feature extraction KW - Mechanically scanned imaging sonar KW - Autonomous Underwater Vehicle KW - AUV KW - Robotics LK - https://researchspace.csir.co.za PY - 2010 SM - 9780620465823 T1 - Point features extraction: towards slam for an autonomous underwater vehicle TI - Point features extraction: towards slam for an autonomous underwater vehicle UR - http://hdl.handle.net/10204/4550 ER -