Towards Autonomous Lakeshore Monitoring
نویسندگان
چکیده
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.
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