Andrew Chambers Supreeth Achar Stephen Nuske Jörn Rehder Bernd Kitt Lyle Chamberlain Justin Haines Sebastian Scherer Sanjiv Singh Perception for a river mapping robot. 227-234 2011 IROS http://dx.doi.org/10.1109/IROS.2011.6095040 conf/iros/2011 db/conf/iros/iros2011.html#ChambersANRKCHSS11