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Page 1: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

John Leonard

J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based Navigation System for an Autonomous Underwater Robot. In Proceedings of International Conference on Field and Service Robotics, Chamonix, France, July, 2007.

Page 2: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 3: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

FBN Filter:Tracks Sonar Pings, does SLAM with matching to priori map.

Predict Filter:Intergration of allforces and torques on the vehicle.

Deadreckoning Filter:Fuses all continuous velocity and pose measurements.

Reference Filter:Same as Deadreckoning

measurements .but adds GPS and LBL

DeadService

with coorelation

Adjusts from highto low frequency

Ref. Service

Input Motion Filter:Generic base for forming

from sensor datameasurements with cov.

Sonar Detections

Raw Motion Data

Page 4: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 5: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 6: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 7: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 8: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 9: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

Page 10: J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. … · 2015. 6. 4. · J. Folkesson, J. Leedekerken, R. Williams, A. Patrikalakis, and J. Leonard. A Feature Based

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