Analysis of local observability for feature localization in a maritime environment using an omnidirectional camera
Autonomous operation by a surface vehicle in a maritime setting requires that the surface vehicle detects non water objects, including shoreline, hazards to navigation, and other moving vessels. In order to assess the utility of an omnidirectional camera for detecting and localizing non water objects, we rigorously investigate observability of both stationary and moving features. For stationary features, we find that all but a small subset of the features are observable. For moving features, we show that an important class of feature and ASV trajectories are not observable.
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems