Mapping Complex Marine Environments with Autonomous Surface Craft

  title={Mapping Complex Marine Environments with Autonomous Surface Craft},
  author={Jacques C. Leedekerken and Maurice F. Fallon and John J. Leonard},
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
Highly Cited
This paper has 57 citations. REVIEW CITATIONS
28 Citations
30 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 28 extracted citations

57 Citations

Citations per Year
Semantic Scholar estimates that this publication has 57 citations based on the available data.

See our FAQ for additional information.

Similar Papers

Loading similar papers…