Perception for a river mapping robot

Rivers with heavy vegetation are hard to map from the air. Here we consider the task of mapping their course and the vegetation along the shores with the specific intent of determining river width and canopy height. A complication in such riverine environments is that only intermittent GPS may be available depending on the thickness of the surrounding canopy. We present a multimodal perception system to be used for the active exploration and mapping of a river from a small rotorcraft flying a few meters above the water. We describe three key components that use computer vision, laser scanning, and inertial sensing to follow the river without the use of a prior map, estimate motion of the rotorcraft, ensure collision-free operation, and create a three dimensional representation of the riverine environment. While the ability to fly simplifies the navigation problem, it also introduces an additional set of constraints in terms of size, weight and power. Hence, our solutions are cognizant of the need to perform multi-kilometer missions with a small payload. We present experimental results along a 2km loop of river using a surrogate system.