%0 Conference Proceedings %T Using interval methods in the context of robust localization of underwater robots %+ Extraction et Exploitation de l'Information en Environnements Incertains (E3I2) %A Sliwka, Jan %A Le Bars, Fabrice %A Reynet, Olivier %A Jaulin, Luc %< avec comité de lecture %( NAFIPS'11 %B NAFIPS'11 %C El Paso, Texas, United States %P xxxx %8 2011-03-18 %D 2011 %K Robotics %K Interval methods %Z Engineering Sciences [physics]/AutomaticConference papers %X In this paper we will apply interval methods to solve the problem of robust localization of an underwater robot. The localization problem is cast into a constraint satisfaction problem (CSP) where constraint propagation algorithms are particularly efficient. The method is designed to work in real environments with numerous outliers. Besides, we used a new approach to represent the map by a binary image. This allow us to represent even unstructured maps. We tested the algorithm on a real data set gathered by an underwater robot in a marina located in Costa Brava. %G English %2 https://ensta-bretagne.hal.science/hal-00583049/document %2 https://ensta-bretagne.hal.science/hal-00583049/file/Nafips-3rd-submission.pdf %L hal-00583049 %U https://ensta-bretagne.hal.science/hal-00583049 %~ ENSTA-BRETAGNE %~ ENSTA-BRETAGNE-STIC %~ ENSIETA-E3I2 %~ TDS-MACS