Simultaneous localization and mapping (SLAM) has been shown to be feasible in many small, two-dimensional, structured domains. We present experimental results from each of the three perception subsystems from representative environments. Hence, our solutions are cognizant of the need to perform multi-kilometer missions with a small payload. While the ability to fly simplifies the navigation problem, it also introduces an additional set of constraints in terms of size, weight and power. We describe three key components that use computer vision and laser scanning to follow the river without the use of a prior map, estimate motion of the rotorcraft, ensure collisionfree operation, and create a three dimensional representation of the riverine environment. We present key components of 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. A complication in such riverine environments is that GPS may not be available depending on the thickness of the surrounding canopy. 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. Abstract-Rivers in areas with heavy vegetation are hard to map from the air.
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