@inproceedings{MCMC06,
	author={David Ribas and Jose Neira and Pere Ridao and Juan Domingo Tardos},
	title={AUV localization in structured underwater environments using an a priori
 map},
	abstract={In this paper we describe a localization system for an Autonomous Underwater Vehicle (AUV) which moves in a known and structured underwater environment.
 A DVL sensor including a compass, two inclinometers and a depth sensor is used to update a simple constant velocity kinematic model. In order
 to bound the drift inherent to this process, an imaging sonar is used to sense the structures of the environment and to contrast them with the \\emph{a
 priori} map, allowing to refine the robot location in real time. Preliminary
 experiments in a water tank show the viability of the proposed approach.},
	booktitle={7th IFAC Conference on Manoeuvring and Control of Marine Crafts},
	year={2006},
	month={september},
	address={Lisbon, Portugal}
}