Browsing NTNU Open by Author "Maki, Toshihiro"
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Rao-Blackwellized Particle Filter with Grid-Mapping for AUV SLAM Using Forward-Looking Sonar
Sandøy, Stian Skaalvik; Matsuda, Takumi; Maki, Toshihiro; Schjølberg, Ingrid (Chapter, 2018)This paper adresses underwater localization for an AUV using SLAM and Forward Looking Sonar (FLS) data. The proposed method is Rao-Blackwellized Particle Filter (RBPF) with grid mapping. The original RBPF uses multiple ...