Range-Only Beacon Localization


Many Autonomous Underwater Vehicle (AUV) systems determine their position using a set of transponder beacons whose location is known in advance. We have developed a system capable of navigating even when beacon locations are completely unknown and have tested our algorithm on real data.

Outlier rejection is a major issue, and we have developed a powerful method of rejecting outliers that is not dependent on a prior. We cast the problem as a graph partitioning problem on a graph constructed from pair-wise measurement consistencies.

This work was presented at the IEEE AUV 2004 conference in June, 2004.

The outlier rejection portion of this paper has subsequently been expanded and enhanced in our paper "Single Cluster Graph Partitioning for Robotics Applications".

IEEE AUV 2004 Conference Materials

Additional Materials


Edwin Olson eolson@mit.edAlumni 
John Leonard jleonard@mit.edu  Faculty 
Seth Teller teller@csail.mit.edu  Faculty 

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