I am trying to implement a functioning SLAM system for an autonomous surface vessel (ASV). I don't have any direct experience with SLAM, and I am therefore researching the topic before I try to implement anything.
I am trying to figure out, if a maritime environment will make this job much harder than if our vessel was in a more static environment.
From my readings, I am getting the impression that you need to have a fair estimate of your location over time, given your inputs. Usually SLAM techniques are described for robots that don't move, if you don't tell it to, and this puts a strong constraint on the possible error between estimated location and actual location.
For ASV's the position moves constantly, depending on waves and currents, both in xyz and in pitch, yaw and roll directions. Will this be a problem for standard SLAM techniques? If I have an IMU, can I potentially correct for these disturbances?
For reference, the ASV I'm working with has a GPS and an IMU, and a lidar and cameras for landmark detection.