Essays about: "MBES"
Showing result 1 - 5 of 6 essays containing the word MBES.
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1. Multi-Resolution Inference of Bathymetry From Sidescan Sonar
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : How to obtain complete and high-resolution bathymetry is an important research topic in the underwater domain. However, existing methods have certain shortcomings. Multibeam echosounder (MBES) can produce narrow beam range readings of the seafloor, but there is an interval between every two beams (between 10cm to 10m), and the resolution is low. READ MORE
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2. Pixel correspondences for SLAM using sidescan sonar with canonical representations
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : Acoustic instruments play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wider range, provides photo-realistic images in high resolution, and has lower price than the multibeam echo sounder (MBES). READ MORE
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3. AUV SLAM constraint formation using side scan sonar
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : Autonomous underwater vehicle (AUV) navigation has been a challenging problem for a long time. Navigation is challenging due to the drift present in underwater environments and the lack of precise localisation systems such as GPS. Therefore, the uncertainty of the vehicle’s pose grows with the mission’s duration. READ MORE
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4. Submap Correspondences for Bathymetric SLAM Using Deep Neural Networks
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : Underwater navigation is a key technology for exploring the oceans and exploiting their resources. For autonomous underwater vehicles (AUVs) to explore the marine environment efficiently and securely, underwater simultaneous localization and mapping (SLAM) systems are often indispensable due to the lack of the global positioning system (GPS). READ MORE
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5. Underwater Rao-Blackwellized Particle Filter SLAM using Stochastic Variational Gaussian Processes maps
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : In this thesis, we introduce a Rao-Blackwellized Particle Filter (RBPF) for the algorithm Simultaneously Localizing and Mapping (SLAM) to be used on an Autonomous Underwater Vehicle (AUV) with a Stochastic Variational Gaussian Process (SVGP) algorithm. With a positive result, the combination was proven to be working. READ MORE