Mapping Complex Marine Environments with Autonomous Surface Craft
Author(s)Leedekerken, Jacques C.; Fallon, Maurice Francis; Leonard, John Joseph
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 12th International Symposium on Experimental Robotics 2010, ISER 2010
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.
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