Abstract
This paper describes a new technique for tracking locally curved unknown objects using sonar. The approach explicitly accounts for relevant robot dynamics. Objects are tracked by looking for temporal sequences of observations that fit a kinematic model. The method is illustrated using data from a synthetic aperture sonar gathered by an Odyssey III at NATO SACLANT’s GOATS 2002 experiment in the Ligurian Sea.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Rikoski, R.J., Leonard, J.J., Newman, P.M., Schmidt, H. (2006). Trajectory Sonar Perception in the Ligurian Sea. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_53
Download citation
DOI: https://doi.org/10.1007/11552246_53
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
eBook Packages: EngineeringEngineering (R0)Springer Nature Proceedings excluding Computer Science
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.