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Here we consider the problem of automatically segmenting images taken from a boat or low-flying aircraft. Such a capability is important for autonomous river following and mapping. The need for accurate segmentation in a wide variety of riverine environments challenges the state of the art vision-based methods that have been used in more structured environments such as roads and highways. Apart from the lack of structure, the principal difficulty is the large spatial and temporal variations indoi:10.1109/icra.2011.5980157 dblp:conf/icra/AcharSNSS11 fatcat:twdyi45z4vdkfpoh43jcwpwpe4