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• W2144350520 abstract "We present a novel approach to the guidance of an autonomous underwater vehicle (AUV) along a trained route. The introduced system employs a topological route representation based on storing a sequence of side-scan sonar images captured along the route. When in following mode, image registration techniques provide the vehicle with a real-time estimate of the direction of its displacement relative to the trained route. This simplified approach to navigation sidesteps the problems inherent with maintaining a vehicle pose estimate within a global reference system, thereby allowing the vehicle to traverse a trained route without resorting to external navigation aides (e.g. GPS). Simulation results are provided which validate the proof of concept for our approach." @default.
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• W2144350520 date "2012-05-01" @default.
• W2144350520 modified "2023-09-27" @default.
• W2144350520 title "Towards AUV Route Following Using Qualitative Navigation" @default.
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• W2144350520 doi "https://doi.org/10.1109/crv.2012.63" @default.
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