Underwater Localization using Probabilistic Sonar Registration and Pose Graph Optimization

Burguera Burguera, Antonio

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dc.contributor.author	Burguera Burguera, Antonio
dc.date.accessioned	2025-09-23T10:50:45Z
dc.date.available	2025-09-23T10:50:45Z
dc.date.issued	2025-09-23
dc.identifier.citation	Burguera Burguera, A. (2018). Underwater Localization using Probabilistic Sonar Registration and Pose Graph Optimization. IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). https://doi.org/10.1109/AUV.2018.8729739	en
dc.identifier.uri	http://hdl.handle.net/11201/171389
dc.description.abstract	[eng] This study is focused on a novel approach to perform underwater robot localization using sonar sensors. The approach is divided in three main steps. First, the sonar data is used to build probabilistic point clouds. Second, these point clouds are registered and a pose graph is constructed. Finally, the pose graph is optimized and a globally consistent map is built. The experimental results evaluate the proposal using real data gathered by an Autonomous Underwater Vehicle.	en
dc.format	application/pdf	en
dc.publisher	IEEE	en
dc.relation.ispartof	IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018	en
dc.rights	all rights reserved
dc.subject	62 - Enginyeria. Tecnologia	ca
dc.subject.other	Robotics	en
dc.subject.other	Localization	en
dc.subject.other	Sonar	en
dc.title	Underwater Localization using Probabilistic Sonar Registration and Pose Graph Optimization	en
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/acceptedVersion
dc.type	Article
dc.type	info:eu-repo/semantics/conferenceObject
dc.type	conferenceObject
dc.rights.accessRights	info:eu-repo/semantics/closedAccess
dc.identifier.doi	https://doi.org/10.1109/AUV.2018.8729739