Underwater mapping using a SONAR

João Pedro Bastos Fula

doi:10.34626/2mrm-nx68

Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/132779

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DC Field	Value	Language
dc.creator	João Pedro Bastos Fula
dc.date.accessioned	2025-11-12T01:20:10Z	-
dc.date.available	2025-11-12T01:20:10Z	-
dc.date.issued	2020-07-20
dc.date.submitted	2020-07-31
dc.identifier.other	sigarra:411096
dc.identifier.uri	https://hdl.handle.net/10216/132779	-
dc.description	Este estudo explora a capacidade física do raio de um sonar mecânico para construir um mapa do ambiente envolvente e encontrar a localização do veículo nesse mesmo mapa. Os dados do sonar alimentam um extrator de pontos de interesse e um algoritmo SLAM. Esse algoritmo é composto por uma implementação de Octomaps, junto com um filtro de partículas. Vários testes foram executados dentro de um ambiente estruturado e os resultados desses testes são demonstrados neste estudo.
dc.description.abstract	This study explores the physical capabilities of the beam of a mechanical scanning imaging sonar to build a map of the surrounding environment and to find the location of the vehicle within the map. The data from the sonar feed into a feature extractor and a SLAM algorithm. The SLAM algorithm is composed of an Octomaps implementation together with a particle filter. Several tests were ran within a structured environment and the map of the structured environment as well as the location of the vehicle are presented.
dc.language.iso	eng
dc.rights	openAccess
dc.subject	Engenharia electrotécnica, electrónica e informática
dc.subject	Electrical engineering, Electronic engineering, Information engineering
dc.title	Underwater mapping using a SONAR
dc.type	Dissertação
dc.contributor.uporto	Faculdade de Engenharia
dc.identifier.doi	10.34626/2mrm-nx68
dc.identifier.tid	202591590
dc.subject.fos	Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
dc.subject.fos	Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
thesis.degree.discipline	Mestrado Integrado em Engenharia Electrotécnica e de Computadores
thesis.degree.grantor	Faculdade de Engenharia
thesis.degree.grantor	Universidade do Porto
thesis.degree.level	1
Appears in Collections:	FEUP - Dissertação

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