Trajectory Sonar Perception in the Ligurian Sea

Abstract : This paper describes a new technique for tracking locally curved unknown objects using sonar. The approach explicitly accounts for relevant robot dynamics. Objects are tracked by looking for temporal sequences of observations that fit a kinematic model. The method is illustrated using data from a synthetic aperture sonar gathered by a BPAUV at NATO SACLANT's GOATS 2002 experiment in the Ligurian Sea.

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