Paper Info
Title
Towards Autonomous Lakeshore Monitoring
Abstract
This paper works towards autonomous lakeshore monitoring, which involves long-term operation over a large-scale, natural environment. Natural environments widely vary in appearance over time, which reduces the effectiveness of many appearance-based data association techniques. Rather than perform monitoring using appearance-based features, we are investigating whether the lakeshore geometry can provide a stable feature for this task. We have deployed an autonomous surface vessel 30 times over a duration of 8 months. This paper describes our initial analyses of this data, including our work towards a full simultaneous localization and mapping system and the shortcomings of using appearance-based features.
Year
DOI
Venue
2014
10.1007/978-3-319-23778-7_36
Springer Tracts in Advanced Robotics
Keywords
Field
DocType
Lakeshore monitoring,SLAM,3D reconstruction
Computer vision,Unmanned surface vehicle,Control engineering,Data association,Artificial intelligence,Engineering,Simultaneous localization and mapping,3D reconstruction
Conference
Volume
ISSN
Citations 
109
1610-7438
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Griffith, Shane11066.33
Paul Drews2257.46
Cédric Pradalier333938.22