{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:08:34Z","timestamp":1777716514646,"version":"3.51.4"},"reference-count":30,"publisher":"SAGE Publications","issue":"13","license":[{"start":{"date-parts":[[2015,7,8]],"date-time":"2015-07-08T00:00:00Z","timestamp":1436313600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2015,11]]},"abstract":"<jats:p>Autonomous Surface Vessels (ASVs) are increasingly being proposed as tools to automate environmental data collection, bathymetric mapping and shoreline monitoring. For many applications it can be assumed that the boat operates on a 2D plane. However, with the involvement of exteroceptive sensors like cameras or laser rangefinders, knowing the 3D pose of the boat becomes critical. In this paper, we formulate three different algorithms based on 3D extended Kalman filter state estimation for ASV localization. We compare them using field testing results with ground truth measurements, and demonstrate that the best performance is achieved with a model-based solution in combination with a complementary filter for attitude estimation. Furthermore, we present a parameter identification methodology and show that it also yields accurate results when used with inexpensive sensors. Finally, we present a long-term series (i.e. over a full year) of shoreline monitoring data sets and discuss the need for map maintenance routines based on a variant of the Iterative Closest Point algorithm.<\/jats:p>","DOI":"10.1177\/0278364915583680","type":"journal-article","created":{"date-parts":[[2015,7,8]],"date-time":"2015-07-08T21:34:40Z","timestamp":1436391280000},"page":"1604-1621","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel"],"prefix":"10.1177","volume":"34","author":[{"given":"Gregory","family":"Hitz","sequence":"first","affiliation":[{"name":"Autonomous Systems Laboratory, ETH Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fran\u00e7ois","family":"Pomerleau","sequence":"additional","affiliation":[{"name":"Autonomous Systems Laboratory, ETH Z\u00fcrich, Switzerland"},{"name":"Autonomous Space Robotics Laboratory, University of Toronto, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francis","family":"Colas","sequence":"additional","affiliation":[{"name":"Autonomous Systems Laboratory, ETH Z\u00fcrich, Switzerland"},{"name":"Inria, Villers-l\u00e8s-Nancy, F-54600, France"},{"name":"CNRS, Loria, UMR, Vand\u0153uvre-l\u00e8s-Nancy, F-54500, France"},{"name":"Universit\u00e9 de Lorraine, Loria, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[{"name":"Autonomous Systems Laboratory, ETH Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,7,8]]},"reference":[{"key":"bibr1-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1526"},{"key":"bibr2-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1029\/2006JB004913"},{"key":"bibr3-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20303"},{"key":"bibr4-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152851"},{"key":"bibr5-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-011-0095-6"},{"key":"bibr6-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543276"},{"key":"bibr7-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399056"},{"key":"bibr8-0278364915583680","volume-title":"11th australasian conference on robotics and automation (ACRA\u201809)","author":"Dunbabin M","year":"2009"},{"key":"bibr9-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20369"},{"key":"bibr10-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/9781119994138"},{"key":"bibr11-0278364915583680","volume-title":"14th international symposium on experimental robotics (ISER 2014)","author":"Griffith S","year":"2014"},{"key":"bibr12-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1016\/j.atmosenv.2011.09.011"},{"key":"bibr13-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-32494-1_4"},{"key":"bibr14-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907240"},{"key":"bibr15-0278364915583680","volume-title":"14th international symposium on experimental robotics (ISER 2014)","author":"Hitz G","year":"2014"},{"key":"bibr16-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181771"},{"key":"bibr17-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914533443"},{"key":"bibr18-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21535"},{"key":"bibr19-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225061"},{"key":"bibr20-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.923738"},{"key":"bibr21-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20184"},{"key":"bibr22-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21436"},{"key":"bibr23-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20374"},{"key":"bibr24-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21420"},{"key":"bibr25-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9327-2"},{"key":"bibr26-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907397"},{"key":"bibr27-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9293-0"},{"key":"bibr28-0278364915583680","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2006.306906"},{"key":"bibr29-0278364915583680","unstructured":"Trawny N, Roumeliotis SI (2005) Indirect Kalman filter for 3D attitude estimation a tutorial for quaternion algebra. 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