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Underwater multi-target tracking with particle filters

Author
Masmitja, I.; Gomariz, S.; Del Rio, J.; Bouvet, P.; Aguzzi, J.
Type of activity
Presentation of work at congresses
Name of edition
OCEANS 2018 MTS/IEEE Charleston
Date of publication
2018
Presentation's date
2018-05-28
Book of congress proceedings
OCEANS 2018 MTS/IEEE Charleston
First page
1
Last page
5
DOI
10.1109/OCEANSKOBE.2018.8558865
Repository
http://hdl.handle.net/2117/132580 Open in new window
URL
https://ieeexplore.ieee.org/document/8558865 Open in new window
Abstract
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 u...
Keywords
Autonomous underwater vehicles, Interoperability, Mobile robots, Particle filter study, Particle filtering (numerical methods), Particle filters, Single surface vehicle, Target tracking, Underwater targets
Group of research
PERC-UPC - Power Electronics Research Centre
SARTI - Technological Development Center for Remote Acquisition and Data Processing System
SARTI-MAR -

Participants