Using robust spectral registration for scan matching of sonar range data

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 7, Issue PART 1, 2010, Pages 611-616

  Bülow, Heiko ^a   Pfingsthorn, Max ^a   Birk, Andreas ^a  

^a JACOBS UNIVERSITY BREMEN   (Germany)

Author keywords

Image registration; Scan matching; Underwater autonomous vehicles

Indexed keywords

AUTONOMOUS VEHICLES; IMAGE REGISTRATION; SONAR;

LASER SCANNER; RANGE READINGS; RANGE SCANS; SCAN MATCHING; SCAN MATCHING METHOD; THRESHOLDING; UNDERWATER AUTONOMOUS VEHICLES; UNDERWATER ENVIRONMENTS;

UNDERWATER ACOUSTICS;

EID: 80052012700     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20100906-3-it-2019.00105     Document Type: Conference Paper

References (21)

1. Abdelfattah, R., Nicolas, J., and Tupin, F. (2002). Interferometric sar image coregistration based on the fourier-mellin invariant descriptor. In Geoscience and Remote Sensing Symposium, 2002. IGARSS '02. 2002 IEEE International, volume 3, 1334-1336. (Pubitemid 35228705)
2. Besl, P.J. and McKay, N.D. (1992). A method for registration of 3-d shapes. IEEE Trans. on Pattern Analysis and Machine Intelligence, 14(2), 239-256.
3. Buelow, H. and Birk, A. (2009). Fast and robust photomapping with an unmanned aerial vehicle. In Intelligent Robots and Systems, 2009. (IROS 2009). Proceedings. 2009 IEEE/RSJ International Conference on, 3368-3373.
4. Censi, A., Iocchi, L., and Grisetti, G. (2005). Scan matching in the hough domain. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 2739-2744. (Pubitemid 46084203)
5. Chen, Q., Defrise, M., and Deconinck, F. (1994). Symmetric phase-only matched filtering of fourier-mellin transforms for image registration and recognition. IEEE Transactions on Pattern Analysis and Machine Intelligence, 16, 1156-1168.
6. Gerossier, F., Checchin, P., Blanc, C., Chapuis, R., and Trassoudaine, L. (2009). Trajectory-oriented ekf-slam using the fourier-mellin transform applied to microwave radar images. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 4925-4930. doi: 10.1109/IROS.2009.5354548.
7. Goecke, R., Asthana, A., Pettersson, N., and Pettersson, L. (2007). Visual vehicle egomotion estimation using the fourier-mellin transform. In Proceedings of the 2007 IEEE Intelligent Vehicles Symposium, 451-455.
8. Grisetti, G., Stachniss, C., and Burgard, W. (2005). Improving grid-based slam with rao-blackwellized particle filters by adaptive proposals and selective resampling. In IEEE Int. Conf. Robotics and Automation, 2443-2448. Barcelona, Spain.
9. Hahnel, D., Burgard, W., Fox, D., and Thrun, S. (2003). An efficient fastslam algorithm for generating maps of large-scale cyclic environments from raw laser range measurements. In Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003IEEE/RSJ International Conference on, volume 1, 206-211.
10. Hernandez, E., Ridao, P., Ribas, D., and Mallios, A. (2009). Probabilistic sonar scan matching for an auv. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 255-260. doi: 10.1109/IROS.2009.5354656.
11. Horner, J.L. and Gianino, P.D. (1984). Phase-only matched filtering. Applied Optics, 23, 812-816.
12. Howard, A. and Roy, N. (2003). The Robotics Data Set Repository (Radish). http://radish.sourceforge.net/.
13. Hutchison, L. and Barrett, W. (2004). Fast registration of tabular document images using the fourier-mellin transform. In Document Image Analysis for Libraries, 2004. Proceedings. First International Workshop on, 253-267.
14. Lehmann, T. (1998). A two-stage algorithm for model-based registration of medical images. In Pattern Recognition, 1998, Proceedings, Fourteenth International Conference on, volume 1, 344-351.
15. Mallios, A., Ridao, P., Hernandez, E., Ribas, D., Maurelli, F., and Petillot, Y. (2009). Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar. In OCEANS 2009-EUROPE, 2009. OCEANS '09., 1-6. doi:10.1109/OCEANSE.2009.5278219.
16. Martinez-DeDios, J.R. and Ollero, A. (2006). A technique for stabilization of sequences of infrared images taken with hovering uavs. In World Automation Congress, 2006. WAC '06, 1-6.
17. Oppenheim, A.V. and Schafer, R.W. (1989). Discrete-Time Signal Processing. Prentice Hall Signal Processing Series, Englewood Cliffs.
18. Ribas, D., Ridao, P., Neira, J., and Tardos, J.D.T.A.J.D. (2006). SLAM using an Imaging Sonar for Partially Structured Underwater Environments. In P. Ridao (ed.), Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on VO -, 5040-5045. (Pubitemid 46928727)
19. Ribas, D., Ridao, P., Tardós, J.D., and Neira, J. (2008). Underwater slam in man-made structured environments. J. Field Robot., 25(11-12), 898-921. doi:http://dx.doi.org/10.1002/rob.v25:11/12.
20. Rzhanov, Y., Linnett, L., and R., F. (2000). Underwater video mosaicking for seabed mapping. In ICIP, 2000., 224-227. (Pubitemid 32465843)
21. Thrun, S., Haehnel, D., Ferguson, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C., Omohundro, Z., Thayer, S., and Whittaker, W.R.L. (2003). A system for volumetric robotic mapping of abandoned mines. In Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, volume 3, 4270-4275.