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.009a.svgz" name="3717430.fig.009a" 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.009b.svgz" name="3717430.fig.009b" 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.009c.svgz" name="3717430.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>1432 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.009d.svgz" name="3717430.fig.009d" 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.009e.svgz" name="3717430.fig.009e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>795 gradient-fitting sampling points</td></tr></table>

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

Journal of Sensors

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Figure 9

Figure 9: Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting 