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1、SpringerTractsinAdvancedRoboticsVolume65Editors:BrunoSiciliano·OussamaKhatib·FransGroenDavidRibas,PereRidao,andJoséNeiraUnderwaterSLAMforStructuredEnvironmentsUsinganImagingSonarABCProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,Universitàdi
2、NapoliFedericoII,ViaClaudio21,80125Napoli,Italy,E-mail:siciliano@unina.itProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.eduProfessorFransGroen,Depart
3、mentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmsterdam,TheNetherlands,E-mail:groen@science.uva.nlEditorsDr.DavidRibasDr.JoséNeiraResearcherAssociateProfessorCentred’InvestigacióenRobòticaSubmarina,GrupodeRobóticayTiempoReal,ParcCientífi
4、ciTecnològicdeDept.InformáticaeIngenieríadelaUniversitatdeGirona,Sistemas,PicdePeguera(laCreueta)CentroPolitécnicoSuperior,17003Girona,SpainUniversidaddeZaragozaE-mail:dribas@eia.udg.edu50018Zaragoza,SpainE-mail:jneira@unizar.esDr.PereRidaoAssociateProfess
5、orCentred’InvestigacióenRobòticaSubmarina,ParcCientíficiTecnològicdelaUniversitatdeGirona,PicdePeguera(laCreueta)17003Girona,SpainE-mail:pere@eia.udg.eduISBN978-3-642-14039-6e-ISBN978-3-642-14040-2DOI10.1007/978-3-642-14040-2SpringerTractsinAdvancedRobotics
6、ISSN1610-7438LibraryofCongressControlNumber:2010929358c2010Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,rec
7、itation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtained
8、fromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsu
