Mapping Complex Marine Environments with Autonomous Surface Craft

@inproceedings{Leedekerken2010MappingCM,
  title={Mapping Complex Marine Environments with Autonomous Surface Craft},
  author={Jacques C. Leedekerken and Maurice F. Fallon and John J. Leonard},
  booktitle={ISER},
  year={2010}
}
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… CONTINUE READING
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