Robust Imaging Sonar-based Place Recognition and Localization in Underwater Environments
Hogyun Kim,Gilhwan Kang,Seokhwan Jeong,Seungjun Ma,Younggun Cho,Hogyun Kim,Gilhwan Kang,Seokhwan Jeong,Seungjun Ma,Younggun Cho
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping (SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR-based place recognition, SONAR context, and loop closure method. Unlike previous methods, our approach encodes geometric information based on the characteristics of raw SONAR me...
