Sensor data fusion in marine robotics

TitleSensor data fusion in marine robotics
Publication TypeConference Paper
Year of Publication1997
AuthorsLeonard JJ, Smith CM
Conference NameProceedings of the International Society of Offshore and Polar Engineering
Abstract

Sensor data fusion is an important and dicult re- quirement in marine robotics. This paper examines the role of sensor fusion in three di erent application areas: navigation of autonomous underwater vehicles, acoustic scene reconstruction, and ocean data assimilation. The research issues encountered in these problems include management of uncertainty, modeling of sensor physics, vehicle and environment dynamics, feature extraction, data association, state estimation, and sensor management. Previous research in these areas is reviewed and suggestions for future research are presented. 

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