Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment - Robotics Institute Carnegie Mellon University

Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3575 - 3580, May, 2006

Abstract

This paper describes the application of a Rao-Blackwellized Particle Filter to the problem of simultaneous localization and mapping onboard a hovering autonomous underwater vehicle. This vehicle, called DEPTHX, will be equipped with a large array of pencil-beam sonars for mapping, and will autonomously explore a system of flooded tunnels associated with the Zacaton sinkhole in Tamaulipas, Mexico. Due to the three-dimensional nature of the tunnels, the Particle Filter must use a three dimensional map. We describe an extension of traditional two dimensional evidence grids to three dimensions. In May 2005, we collected a sonar data set in Zacaton. We present successful SLAM results using both the real-world data and simulated data.

BibTeX

@conference{Fairfield-2006-9472,
author = {Nathaniel Fairfield and George A. Kantor and David Wettergreen},
title = {Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2006},
month = {May},
pages = {3575 - 3580},
keywords = {particle filter, SLAM, underwater},
}