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To significantly reduce the memory requirements (thereby allowing for the processing of large datasets) a novel map representation is also introduced that, instead of directly storing estimates of seabed depth, records the trajectory of each particle and synchronizes them to a common log of bathymetric observations. Upon detecting a loop closure each particle is weighted by matching new observations to the current predictions generated from a local reconstruction of their map using GP regression. Here the spatial correlation in the environment is fully exploited, allowing predictions of seabed depth in areas that may not have been directly observed previously. The results demonstrate how observations of seafloor structure with partial overlap can be used by bathymetric SLAM to improve map self consistency when compared with dead reckoning fused with long-baseline (LBL) observations. In addition we show how mapping corrections can still be achieved even when no map overlap is present.<\/jats:p>","DOI":"10.1177\/0278364912459666","type":"journal-article","created":{"date-parts":[[2012,9,12]],"date-time":"2012-09-12T21:30:00Z","timestamp":1347485400000},"page":"1409-1430","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":60,"title":["Bathymetric particle filter SLAM using trajectory maps"],"prefix":"10.1177","volume":"31","author":[{"given":"Stephen","family":"Barkby","sequence":"first","affiliation":[{"name":"Australian Centre for Field Robotics, School of Aerospace Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefan B","family":"Williams","sequence":"additional","affiliation":[{"name":"Australian Centre for Field Robotics, School of Aerospace Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oscar","family":"Pizarro","sequence":"additional","affiliation":[{"name":"Australian Centre for Field Robotics, School of Aerospace Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael V","family":"Jakuba","sequence":"additional","affiliation":[{"name":"Australian Centre for Field Robotics, School of Aerospace Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2012,9,11]]},"reference":[{"key":"bibr1-0278364912459666","first-page":"1","volume-title":"Proceedings of the OCEANS \u201909 Conference","author":"Barkby S","year":"2009"},{"key":"bibr2-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20382"},{"key":"bibr3-0278364912459666","volume-title":"FIG XXII International Congress, TS4.3 Hydrographic Surveying I","author":"Blasco S","year":"2002"},{"key":"bibr4-0278364912459666","unstructured":"Catanach R, German C (2011) RD Instruments, \u201cWorkhorse Navigator Doppler Velocity Log (DVL)\u201d, http:\/\/www.dvlnav.com\/pdfs\/navbro.pdf, June 2003."},{"key":"bibr5-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1109\/38.788801"},{"key":"bibr6-0278364912459666","first-page":"176","volume-title":"Proceedings of the 16th Conference on Uncertainty in AI","author":"Doucet A","year":"2000"},{"key":"bibr7-0278364912459666","first-page":"1135","volume-title":"Proceedings of the 18th International Joint Conference on Artificial Intelligence (IJCAI \u201903)","volume":"18","author":"Eliazar A","year":"2003"},{"key":"bibr8-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308006"},{"key":"bibr9-0278364912459666","first-page":"339","volume":"18","author":"Eliazar A","year":"2005","journal-title":"Advances in Neural Information Processing Systems"},{"key":"bibr10-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642248"},{"key":"bibr11-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2008.5151853"},{"key":"bibr12-0278364912459666","volume-title":"Learning a Gaussian Process Model with Uncertain Inputs","author":"Girard A","year":"2003"},{"key":"bibr13-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20191"},{"key":"bibr14-0278364912459666","first-page":"1936","volume-title":"International Joint Conferences on Artificial Intelligence (IJCAI \u201909)","author":"Melkumyan A","year":"2009"},{"key":"bibr15-0278364912459666","volume-title":"Gaussian Processes for Machine Learning","author":"Rasmussen C","year":"2006"},{"key":"bibr16-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1575\/1912\/1572"},{"key":"bibr17-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545340"},{"key":"bibr18-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642247"},{"key":"bibr19-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1006\/cviu.2000.0850"},{"key":"bibr20-0278364912459666","volume-title":"Probabilistic Robotics","author":"Thrun S","year":"2005"},{"key":"bibr21-0278364912459666","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20309"},{"key":"bibr22-0278364912459666","unstructured":"Williams S (2001) Efficient Solutions to Autonomous Mapping and Navigation Problems. 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