Adaptive shorelines detection for autonomous surface vessel navigation

Shorelines and water surface recognition are fundamental cues for ASV navigating in a river. In this paper we present an adaptive shorelines detection approach which is combination of feature-based and edge based method. Firstly, the river boundary is extracted adaptively by color segmentation with a sampling patch. Secondly, the river boundary constrained region is defined for Hough Transform lines detection. The results display that this approach is efficient for real river environment with satisfying accuracy performance.