Stochastic mapping using forward look sonar

This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar us ing the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved traj ectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and loca lization algorithms to satisfy the navigation requirements of undersea vehi cles equipped with forward look sonar.