Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter | |
Jiang M(蒋敏)3,4,5; Song SM(宋三明)4,5; Herrmann, J. Michael2; Li, Jihong1; Li YP(李一平)4,5; Hu ZQ(胡志强)4,5; Li ZG(李智刚)4,5; Liu J(刘健)4,5; Li S(李硕)4,5; Feng XS(封锡盛)4,5 | |
刊名 | IEEE Access |
2019 | |
卷号 | 7页码:166614-166628 |
关键词 | Forward-looking sonar intensity projection histogram PHD lter polar gradient matrix underwater loop-closure detection |
ISSN号 | 2169-3536 |
产权排序 | 1 |
英文摘要 | Robust and accurate estimation of position and attitude of a UUV (Unmanned Underwater Vehicle) from sonar scans is essential for simultaneous localization and mapping (SLAM). Both dead-reckoning based on the inertial navigation system and the motion parameter estimation based on the registration of the ultrasound scan sequence can contribute to the performance of the system. However, the rapidly-growing accumulated error tends to counteract the precise localization of the vehicle. In this paper, a method for loop-closure detection is proposed that adjusts the accumulated error for the underwater acoustic SLAM when the vehicle scans the underwater environment using an Mechanical Scanning Imaging Sonar (MSIS). Firstly, a similarity matrix for pairs of scans is constructed to represent the loop-closing tracks. In the registration step, two novel features, namely the intensity projection histograms and a polar gradient matrix, are extracted to calculate the translational and rotational parameters respectively. Secondly, the probability hypothesis density (PHD) filter is used to extract the possible loop-closure constraints from the similarity matrix, removing the random noise brought by accidental correlation and refining the concurrent loop-closing tracks resulted from long-range scanning. Lastly, the loop-closure constraints from the refined loop-closing tracks are fed into the GraphSLAM system to adjust the pose of each scan by constraint optimization. Experiments on the MSIS sonar images collected in structured and unstructured underwater environments validate the effectiveness of the proposed loop-closure detection method. |
语种 | 英语 |
资助机构 | Natural Science Foundation of China under Grant 61973297 ; Strategic Priority Program of the Chinese Academy of Sciences under Grant XDC03060105 and Grant XDA13030203 ; State Key Laboratory of Robotics of China under Grant 2017-Z010 ; National Key Research and Development Program of China under Grant 2016YFC0300801, Grant 2016YFC0300604, and Grant 2016YFC0301601 ; Key Research Program of Frontier Sciences, Chinese Academy of Sciences (CAS), under Grant QYZDY-SSW-JSC005 ; Project of ``R&D Center for Underwater Construction Robotics'' through the Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science and Technology Promotion (KIMST), South Korea, under Grant PJT200539 ; Public Science and Technology Research Funds Projects of Ocean under Grant 201505017 ; Project ``Field Demonstration and Industrialization of Heavy Duty ROV Technology'' through the Ministry of Ocean and Fisheries (MOF), South Korea, under Grant 20190396 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26038] |
专题 | 沈阳自动化研究所_水下机器人研究室 |
通讯作者 | Song SM(宋三明) |
作者单位 | 1.Marine Robotics R&D Division, Korea Institute of Robot and Convergence, Pohang 37666, South Korea 2.Institute of Perception, Action and Behaviour, The University of Edinburgh, Edinburgh EH8 9AB, U.K. 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 5.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Jiang M,Song SM,Herrmann, J. Michael,et al. Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter[J]. IEEE Access,2019,7:166614-166628. |
APA | Jiang M.,Song SM.,Herrmann, J. Michael.,Li, Jihong.,Li YP.,...&Feng XS.(2019).Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter.IEEE Access,7,166614-166628. |
MLA | Jiang M,et al."Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter".IEEE Access 7(2019):166614-166628. |
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