2005 | OriginalPaper | Buchkapitel
PCA Positioning Sensor Characterization for Terrain Based Navigation of UVs
verfasst von : Paulo Oliveira
Erschienen in: Pattern Recognition and Image Analysis
Verlag: Springer Berlin Heidelberg
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Principal Component Analysis has been recently proposed as a nonlinear positioning sensor in the development of tools for Terrain Based Navigation of Underwater Vehicles [10]. In this work the error sources affecting the proposed unsupervised methodology will be enumerated, the stochastic characterization will be studied, and the attainable performance will be discussed. Based on a series of Monte Carlo experiments for a large set of synthesized terrains, conclusions will be drawn on the adequacy of the proposed nonlinear approach.