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Noname manuscript No. (will be inserted by the editor) River Mapping from a Flying Robot: State Estimation, River Detection, and Obstacle Mapping

By Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew Chambers, Stephen Nuske and Sanjiv Singh


the date of receipt and acceptance should be inserted later Abstract Accurately mapping the course and vegetation along a river is challenging, since overhanging trees block GPS at ground level and occlude the shore line when viewed from higher altitudes. We present a multimodal perception system for the active exploration and mapping of a river from a small rotorcraft. We describe three key components that use computer vision, laser scanning, inertial sensing and intermittant GPS to estimate the motion of the rotorcraft, detect the river without a prior map, and create a 3D map of the riverine environment. Our hardware and software approach is cognizant of the need to perform multi-kilometer missions below tree level with size, weight and power constraints. We present experimental results along a 2km loop of river using a surrogate perception payload. Overall we can build an accurate 3D obstacle map and a 2D map of the river course and width from light onboard sensing.

Year: 2014
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