Polar Map: A Digital Representation of Closed Structures for Underwater Robotic Inspection
Abstract
This article presents a novel 2.5D map representation, termed polar map, that has a memory consumption of O(ML), where M and L depend on the map's angular and depth resolution, respectively. The map has a computational effort of O(1) in the update and evaluation process, where updates are performed through the use of Kalman filters. The representation can only be applied to structures in an environment that can be represented uniquely in a...
Paper Details
Title
Polar Map: A Digital Representation of Closed Structures for Underwater Robotic Inspection
Published Date
May 1, 2020
Journal
Volume
89
Pages
102039 - 102039
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