A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density
<|reference_start|>A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density: 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 (PF) either to weigh more particles that belong to high-likelihood regions or to solve symmetric ambiguities. Preliminary experiments carried out on a simulated environment resembling a real underwater plant provided promising results. This work represents a starting point towards future developments of the method and consequent exhaustive evaluations also in real-world scenarios.<|reference_end|>
@article{olivastri2024a,
    title={A Sonar-based AUV Positioning System for Underwater Environments with
  Low Infrastructure Density},
    author={Emilio Olivastri, Daniel Fusaro, Wanmeng Li, Simone Mosco, and Alberto
  Pretto},
    journal={IEEE ICRA Workshop on Field Robotics 2024},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.01971},
    primaryClass={cs.RO cs.CV}
}