Imperial College London
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DrSenWang

Faculty of Engineering, Department of Electrical and Electronic Engineering

Senior Lecturer
 
 
 
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Contact

 

sen.wang

 
 
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Location

 

Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Willners:2021:10.1016/j.ifacol.2021.10.104,
author = {Willners, JS and Carreno, Y and Xu, S and Luczynski, T and Katagiri, S and Roe, J and Pairet, È and Petillot, Y and Wang, S},
doi = {10.1016/j.ifacol.2021.10.104},
pages = {273--280},
title = {Robust underwater SLAM using autonomous relocalisation},
url = {http://dx.doi.org/10.1016/j.ifacol.2021.10.104},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper presents a robust underwater simultaneous localisation and mapping (SLAM) framework using autonomous relocalisation. The proposed approach strives to maintain a single consistent map during operation and updates its current plan when the SLAM loses feature tracking. The updated plan transverses viewpoints that are likely to aid in merging the current map into the global map. We present the sub-systems of the framework: the SLAM, viewpoint generation, and high level planning. In-water experiments show the advantage of our approach used on an autonomous underwater vehicle (AUV) performing inspections.
AU  - Willners,JS
AU  - Carreno,Y
AU  - Xu,S
AU  - Luczynski,T
AU  - Katagiri,S
AU  - Roe,J
AU  - Pairet,È
AU  - Petillot,Y
AU  - Wang,S
DO  - 10.1016/j.ifacol.2021.10.104
EP  - 280
PY  - 2021///
SP  - 273
TI  - Robust underwater SLAM using autonomous relocalisation
UR  - http://dx.doi.org/10.1016/j.ifacol.2021.10.104
ER  -
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