Sparse Extended Information Filter for AUV SLAM: Insights into the Optimal Sparse Time

Hao Zhang; Bo He; Ning Luan

doi:10.4028/www.scientific.net/AMM.427-429.1670

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 427-429Sparse Extended Information Filter for AUV SLAM:...

Sparse Extended Information Filter for AUV SLAM: Insights into the Optimal Sparse Time

Abstract:

Sparse extended information filter-based simultaneous localization and mapping (SEIF-based SLAM) algorithm can reflect significant advantages in terms of computation time and storage memories. However, SEIF-SLAM is easily prone to overconfidence due to sparsification strategy. In this paper we will consider the time consumption and information loss of sparse operation, and get the optimal sparse time. In order to verify the feasibility of sparsification, a sea trial for autonomous underwater vehicle (AUV) C-Ranger was conducted in Tuandao Bay. The experimental results will show the improved algorithm is much more effective and accurate comparedwithothermethods.

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Periodical:

Applied Mechanics and Materials (Volumes 427-429)

Pages:

1670-1673

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.427-429.1670

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Online since:

September 2013

Authors:

Hao Zhang*, Bo He, Ning Luan

Keywords:

AUV, Navigation, Optimal Sparse Time, SEIF-SLAM, Sparsification

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