A semantic-aided particle filter approach for AUV localization

This paper presents a novel approach to AUV localization, based on a semantic-aided particle filter. Particle filters have been used successfully for robotics localization since many years. Most of the approaches are however based on geometric measurements and geometric information and simulations....

Full description

Saved in:
Bibliographic Details
Published inarXiv.org
Main Authors Maurelli, Francesco, Krupinski, Szymon
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 17.05.2019
Subjects
Localization
Robotics
Semantics
Online AccessGet full text

Cover

More Information
Summary:This paper presents a novel approach to AUV localization, based on a semantic-aided particle filter. Particle filters have been used successfully for robotics localization since many years. Most of the approaches are however based on geometric measurements and geometric information and simulations. In the past years more and more efforts from research goes towards cognitive robotics and the marine domain is not exception. Moving from signal to symbol becomes therefore paramount for more complex applications. This paper presents a contribution in the well-known area of underwater localization, incorporating semantic information. An extension to the standard particle filter approach is presented, based on semantic information of the environment. A comparison with the geometric approach shows the advantages of a semantic layer to successfully perform self-localization.
ISSN:2331-8422