UV局部地图采样与合并研究
Local Map Sampling and Combination for AUV
使用智能水下机器人(AUV)进行水下局部地图的创建与合并,可以对水下进行观察,结构环境建模等。文章分析了AUV 纵摇、横摇和艏摇等对声纳成像数据的影响，确定摇荡情况下获得采样的畸变修正机理。根据图像声纳的工作方式，通过雅可比矩阵变换统一粒子树的局部地图采样，每个粒子分别表示图像声纳获得的局部地图采样。对应全局地图合并，建立粒子树的全局拓扑图。通过比较和分析采样区域，由局部采样的位姿反演得到该粒子的重要性权值，从而根据权值更新粒子的"家谱树"和全局粒子树拓扑图，仿真和水池中的地图合并试验表明方法的有效性。
Underwater enviromental modeling and observation can be realized through Autonomous Underwater vehicle (AUV). The effects of AUV roll and pitch swing on the sonar image have been analyzed in order to make research on the mechanism of skewness correction. Local map has been sampled and obtained through partical filter of image sonar. Local map has been analyzed and combined through updating family tree and overall topo map on the basis of image sonar. Simmulation and tank experiments have verified this research.
黄海、盛明伟
声学工程自动化技术、自动化技术设备遥感技术
水下机器人局部地图采样地图合并粒子树
Underwater VehicleLocal map samplingMap combinationParticle tree
黄海,盛明伟.UV局部地图采样与合并研究[EB/OL].(2016-08-08)[2025-08-16].http://www.paper.edu.cn/releasepaper/content/201608-58.点此复制
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