Where's Wally?: location of acoustic landmarks using AUVS in a pose-graph framework

Authors

  • Marta Real Vial
  • Pau Vial Serrat
  • Ricard Segura Duran
  • Daniel Toma
  • Álex Ramón Ripoll
  • Juan Manuel López Navarro
  • Xavier Cufí Solè
  • Josep Forest Collado
  • Narcís Palomeras Rovira
  • Joaquín del Río Fernández
  • Marc Carreras Pérez

DOI:

https://doi.org/10.5821/iwp.2024.23.14145

Abstract

This work presents the implementation of an acoustic localization system that can work either with ranges or bearings. The algorithm is based on factor graphs and uses the information gathered from acoustic landmarks to estimate their position and the AUV pose without previous knowledge of their locations.

Issue

No. 23 (2024)

Section

Articles

License

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