Research Article
Underwater Matching Correction Navigation Based on Geometric Features Using Sonar Point Cloud Data
Algorithm 1
The map matching correction based on geometric features.
; | to get the four corners of the water tank using Hough / | HoughTransform (all points); | Least square method to fit lines of the most data with adjacent / | , | set the line with most data is set to the baseline , the adjacent two | lines to be and , the fourth | line to be / | if | then one of the lines is perpendicular to axis | the rectangle can be easily / | else | while && , do | and remains unchanged, modify / | ; | ; | end while | ; | | end if |
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