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Published in:
2012 | OriginalPaper | Chapter
Mapping of Inland Waters Using Radar
Authors : Matthias Greuter, Michael Blaich, Michael Schuster, Johannes Reuter, Matthias Franz
Published in: Autonomous Mobile Systems 2012
Publisher: Springer Berlin Heidelberg
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Abstract
This paper presents a mapping approach for inland waters using a noisy radar sensor installed on a boat. The vessel’s position is acquired from GPS, thus this is a pure mapping problem. For the actual mapping the probabilistic open-source mapping framework octomap as presented by [8] is used. Exactly one polygon is extracted from a binary radar image, the so-called Water Enclosing Polygon. This discards inland echos and multi-path measurements. Additionally, an approach to detect bridges and dolphins is presented. The runtime of the mapping algorithm is less then 2.5 s. Thus, each new radar scan is integrated into the octomap.