Simultaneous Localization And Mapping in a Marine Environment using Radar Images

Detta är en Uppsats för yrkesexamina på avancerad nivå från Linköpings universitet/Reglerteknik

Författare: Henrik Svensson; [2009]

Nyckelord: Signal processing; SLAM; Kalman filter; ESDF; Radar; Feature Extraction; SIFT;

Sammanfattning:

Simultaneous Localization And Mapping (SLAM) is a process of mapping an unknown environment and at the same time keeping track of the position within this map. In this theses, SLAM is performed in a marine environent using radar images only.

A SLAM solution is presented. It uses SIFT to compare pairs of radar images. From these comparisons, measurements of the boat movements are obtained. A type of Kalman filter (Exactly Sparse Delayed-state Filter, ESDF) uses these measurements to estimate the trajectory of the boat. Once the trajectory is estimated, the radar images are joined together in order to create a map.

The presented solution is tested and the estimated trajectory is compared to GPS data. Results show that the method performs well for at least shorter periods of time.

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