GMM Registration: a Probabilistic scan matching approach for sonar-based AUV navigation
Pau Vial,Miguel Malagón,Ricard Segura,Narcís Palomeras,Marc Carreras,Pau Vial,Miguel Malagón,Ricard Segura,Narcís Palomeras,Marc Carreras
Acoustic perception in underwater environments is challenging due to the low frequency of the acquisition system and multiple and huge sources of noise. Therefore, point clouds built by profiling sonars mounted on Autonomous Underwater Vehicles (AUV) are sparse and noisy. To solve the mapping task, AUVs need a registration algorithm to prevent maps from inconsistencies. Many scan matching algorith...
