title: The uspIC: performing scan matching localization using an imaging sonar.
abstract: This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the uspIC, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided.
authors.affiliation: Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Palma de Mallorca, Illes Balears, Spain. antoni.burguera@uib.es
authors.forename: Antoni
authors.initials: A
authors.lastname: Burguera
authors.forename: Yolanda
authors.initials: Y
authors.lastname: Gonzàlez
authors.forename: Gabriel
authors.initials: G
authors.lastname: Oliver