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Proceedings Paper

Spatial Mapping System For Autonomous Underwater Vehicles
Author(s): David N. Oskard; Tsai-Hong Hong; Clifford A. Shaffer
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Paper Abstract

As part of the Multiple Autonomous Underwater Vehicle (MAUV) project at the National Bureau of Standards, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The system is composed of multi-resolution depth maps designed to integrate sensor data with an a priori model, an object/attribute database for storing information about detected objects, and a set of flags to monitor abnormal or emergency conditions in the environment. This paper describes the struc-ture of the mapping system and the algorithms used to map terrain and obstacles detected by acoustic sonar.

Paper Details

Date Published: 5 January 1989
PDF: 12 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948959
Show Author Affiliations
David N. Oskard, National Bureau of Standards (United States)
Tsai-Hong Hong, National Bureau of Standards (United States)
Clifford A. Shaffer, Virginia Polytechnic Institute and State University (United States)


Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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