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Title:
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Underwater multi-target tracking with particle filters
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Author:
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Masmitjà Rusiñol, Ivan; Gomáriz Castro, Spartacus; Río Fernandez, Joaquín del; Bouvet, Pierre-Jean; Aguzzi, Jacopo
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica; Universitat Politècnica de Catalunya. SARTI-MAR - Sistemes d'Adquisició Remota de dades i Tractament de la Informació en el Medi Marí |
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Abstract:
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© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
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Abstract:
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Robotic platforms communication and interoperability is of relevance for marine science and industrial monitoring. We present results of a particle filter study based on underwater Multi-Target Tracking (MTT) using Autonomous Underwater Vehicles (AUV). The main goal was to assess the viability of using a single surface vehicle as a mobile landmark to track and follow a fleet of underwater targets, each one equipped with an acoustic tag where the slant ranges between the surface vehicle and the underwater targets are the unique input for the filters. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Nàutica
-Underwater acoustics
-Autonomous vehicles
-Autonomous underwater vehicles
-Mobile robots
-Particle filtering (numerical methods)
-Target tracking
-Interoperability
-Particle filter study
-Single surface vehicle
-Underwater targets
-Particle filters
-Vehicles autònoms
-Acústica submarina |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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