ShorelineMapping usingan Omni-directional Camera forAutonomousSurfaceVehicle Applications
Xiaojin Gong, Daniel J. Stilwell, Christopher Lee Wyatt · 2006
Autonomoussurface vehicles (ASVs)havethe potential tooperateforextended periods oftimeincoastal, estuarine, andriverine environments fora variety ofscientific, environmental, and military applications. However,these environments are oftenhighly dynamicandunstructured, and present new challenges forautonomousoperations. Towardthe goalofachieving trulyautonomouslong-term operations in highly unstructured maritime environments, we present a new approach tocreate a shoreline map withan ASVinreal-time by combining theanalysis ofimages froma single omni-directional camera andknowledge ofthevehicle's location andmotion information.