A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density

arXiv:2405.01971v1 Announce Type: cross
Abstract: The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs (Autonomous Underwater Vehicles) designed for environments with a sparse distribution of human-made assets. Our approach exploits two synergistic data interpretation frontends applied to the same stream of sonar data acquired by a multibeam Forward-Looking Sonar (FSD). These observations are fused within a Particle Filter …

abstract algorithm arxiv autonomous cs.cv cs.ro demand distribution environments global highlights human infrastructure localization low novel real-time robust solutions sonar type underwater vehicles work