Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.0010a.svgz" name="3717430.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>All 2025 points</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.0010b.svgz" name="3717430.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>1444 uniform sampling points</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.0010c.svgz" name="3717430.fig.0010c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>1397 gradient-fitting sampling points</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.0010d.svgz" name="3717430.fig.0010d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>841 uniform sampling points</td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/js/volume-2018/3717430/figures/3717430.fig.0010e.svgz" name="3717430.fig.0010e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>804 gradient-fitting sampling points</td></tr></table>

<div>Matching performance with different matching points in a flat terrain.</div>

Journal of Sensors

fig10

Figure 10

Figure 10: Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting 