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• W2523949925 abstract "The automation of the monitoring, inspection and underwater maintenance tasks by underwater robots require a mapping and localization system. One challenge of these systems is how to recognize previously visited place in sensory information. This paper proposes a extended version of a method to detect loop closure dealing with acoustic images acquired by a forward looking sonar (FLS). The method builds a graph of Gaussian probability density function. This structure represents both shape and topological relation. We improve the image segmentation step adding a local parameters adjustment regard to intensity peak analyze of acoustic beams and changed the graph matching metric. We evaluate the method in a real dataset acquired by a underwater vehicle performing navigation in a harbor area." @default.
• W2523949925 created "2016-10-07" @default.
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• W2523949925 date "2016-01-01" @default.
• W2523949925 modified "2023-10-01" @default.
• W2523949925 title "A Topological Descriptor of Forward Looking Sonar Images for Navigation and Mapping" @default.
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• W2523949925 doi "https://doi.org/10.1007/978-3-319-47247-8_8" @default.
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