An Outlier Robust Filter for Maritime Robotics Applications
Navigation systems of autonomous vehicles often exploit range measurement information that may be affected by outliers. In marine application the presence of outliers in sonar bathymetry, for instance, can be particularly severe due to multipath phenomena in the acoustic propagation. This paper desc...
Published in: | Paladyn, Journal of Behavioral Robotics |
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ftdoajarticles:oai:doaj.org/article:4f331a47451542e9b6408f8e6598bd90 2023-11-05T03:39:40+01:00 An Outlier Robust Filter for Maritime Robotics Applications Indiveri Giovanni 2013-12-01T00:00:00Z https://doi.org/10.2478/pjbr-2013-0012 https://doaj.org/article/4f331a47451542e9b6408f8e6598bd90 EN eng De Gruyter https://doi.org/10.2478/pjbr-2013-0012 https://doaj.org/toc/2081-4836 2081-4836 doi:10.2478/pjbr-2013-0012 https://doaj.org/article/4f331a47451542e9b6408f8e6598bd90 Paladyn, Vol 4, Iss 4, Pp 196-203 (2013) marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation Technology T article 2013 ftdoajarticles https://doi.org/10.2478/pjbr-2013-0012 2023-10-08T00:38:29Z Navigation systems of autonomous vehicles often exploit range measurement information that may be affected by outliers. In marine application the presence of outliers in sonar bathymetry, for instance, can be particularly severe due to multipath phenomena in the acoustic propagation. This paper describes a possible approach to process range measurements highly contaminated by outliers. The proposed solution builds on a robust parameter identification algorithm minimizing a nonlinear cost function that exploits the mathematical properties of Gibbs entropy. Numerical examples on simulated data are provided to illustrate the method and its performance. The use of simulated data allows to vary the amount of noise and outliers contamination while knowing the ground truth values of the parameters to be identified. For the sake of experimental validation, the method is also applied to third party (publicly available) upward looking sonar ice draft data collected by submarines in the Arctic Ocean. Article in Journal/Newspaper Arctic Arctic Ocean Directory of Open Access Journals: DOAJ Articles Paladyn, Journal of Behavioral Robotics 4 4 |
institution |
Open Polar |
collection |
Directory of Open Access Journals: DOAJ Articles |
op_collection_id |
ftdoajarticles |
language |
English |
topic |
marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation Technology T |
spellingShingle |
marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation Technology T Indiveri Giovanni An Outlier Robust Filter for Maritime Robotics Applications |
topic_facet |
marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation Technology T |
description |
Navigation systems of autonomous vehicles often exploit range measurement information that may be affected by outliers. In marine application the presence of outliers in sonar bathymetry, for instance, can be particularly severe due to multipath phenomena in the acoustic propagation. This paper describes a possible approach to process range measurements highly contaminated by outliers. The proposed solution builds on a robust parameter identification algorithm minimizing a nonlinear cost function that exploits the mathematical properties of Gibbs entropy. Numerical examples on simulated data are provided to illustrate the method and its performance. The use of simulated data allows to vary the amount of noise and outliers contamination while knowing the ground truth values of the parameters to be identified. For the sake of experimental validation, the method is also applied to third party (publicly available) upward looking sonar ice draft data collected by submarines in the Arctic Ocean. |
format |
Article in Journal/Newspaper |
author |
Indiveri Giovanni |
author_facet |
Indiveri Giovanni |
author_sort |
Indiveri Giovanni |
title |
An Outlier Robust Filter for Maritime Robotics Applications |
title_short |
An Outlier Robust Filter for Maritime Robotics Applications |
title_full |
An Outlier Robust Filter for Maritime Robotics Applications |
title_fullStr |
An Outlier Robust Filter for Maritime Robotics Applications |
title_full_unstemmed |
An Outlier Robust Filter for Maritime Robotics Applications |
title_sort |
outlier robust filter for maritime robotics applications |
publisher |
De Gruyter |
publishDate |
2013 |
url |
https://doi.org/10.2478/pjbr-2013-0012 https://doaj.org/article/4f331a47451542e9b6408f8e6598bd90 |
genre |
Arctic Arctic Ocean |
genre_facet |
Arctic Arctic Ocean |
op_source |
Paladyn, Vol 4, Iss 4, Pp 196-203 (2013) |
op_relation |
https://doi.org/10.2478/pjbr-2013-0012 https://doaj.org/toc/2081-4836 2081-4836 doi:10.2478/pjbr-2013-0012 https://doaj.org/article/4f331a47451542e9b6408f8e6598bd90 |
op_doi |
https://doi.org/10.2478/pjbr-2013-0012 |
container_title |
Paladyn, Journal of Behavioral Robotics |
container_volume |
4 |
container_issue |
4 |
_version_ |
1781695551821053952 |