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Pré-Publication, Document De Travail Année : 2021

On-manifold Probabilistic ICP : Application to Underwater Karst Exploration

André Mas

Résumé

This paper proposes an on-manifold derivation of the probabilistic ICP (pIC) and its adaptation in the context of autonomous underwater karst exploration. As vision-based methods may fail due to water turbidity, we have to rely on acoustic sonar measurements. This work leverages previous results on elevation angle estimations of wide-beam profiling sonar and adapts the pIC to the obtained point distributions.
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Dates et versions

hal-03182013 , version 1 (26-03-2021)
hal-03182013 , version 2 (07-04-2021)
hal-03182013 , version 3 (09-06-2021)

Identifiants

  • HAL Id : hal-03182013 , version 2

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Yohan Breux, André Mas, Lionel Lapierre. On-manifold Probabilistic ICP : Application to Underwater Karst Exploration. 2021. ⟨hal-03182013v2⟩
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