A Simulation of Real-time Seabed Mapping using Multi-Beam Echo Sounder Measurement Model
Yeongjun Lee, You-Jin Lim, Tae–Kyeong Yeu, Sejin Lee, Jongdae Jung, Daegil Park, Jong-Boo Han · Journal of Institute of Control Robotics and Systems · 2022
This paper proposes a measurement model of Multi-Beam Echo Sounder (MBES) for seabed mapping and introduces the result of conducting a seabed mapping simulation test in the Robot Operating System (ROS) middleware environment. The simulation test consists of four techniques: proposed measurement model of multibeam echo sounder, path generator by vehicle model, local-map generator, and Iterative Closest Point (ICP) based map registration for the global mapping. Seabed map information is handled in the form of the point cloud, and the ROS Rviz is used to visualize the simulation test results.