Mapping Complex Marine Environments with Autonomous Surface Craft
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Leonard_Mapping complex.pdf
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2.43 MB
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Author(s)
Leedekerken, Jacques C.
Fallon, Maurice Francis
Leonard, John Joseph
Date Issued
December 2010
Journal
Proceedings of the 12th International Symposium on Experimental Robotics 2010, ISER 2010
Publisher
Springer-Verlag
Citation
Leedekerken, Jacques C., Maurice F. Fallon and John J. Leonard. "Mapping Complex Marine Environments with Autonomous Surface Craft." ISER 2010, 12th International Symposium on Experimental Robotics 2010 Dec 18-21, 2010 | New Delhi & Agra, India.
Version
Author's final manuscript
Abstract
This paper presents a novel marine mapping system using an Autonomous
Surface Craft (ASC). The platform includes an extensive sensor suite for mapping
environments both above and below the water surface. A relatively small hull size
and shallow draft permits operation in cluttered and shallow environments. We address the Simultaneous Mapping and Localization (SLAM) problem for concurrent
mapping above and below the water in large scale marine environments. Our key
algorithmic contributions include: (1) methods to account for degradation of GPS
in close proximity to bridges or foliage canopies and (2) scalable systems for management of large volumes of sensor data to allow for consistent online mapping
under limited physical memory. Experimental results are presented to demonstrate
the approach for mapping selected structures along the Charles River in Boston.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
http://iser2010.grasp.upenn.edu/?q=program
