Roaming on Mars with Edge and lake avoiding

Today the Rover had his first roaming on Mars with edge detection and lake avoiding turned on. The video below gives a nice impression of the roaming, it even can get out of a lake.

When looking at the image processing and lake detection, the lake detection (due to image processing) is not working as desired. Sometimes the lake detection is very poor and even when the Rover almost stands in front of it, the lake is not detected.
The strategy to use the vision and the received coordinates as real time input for driving to the lake is likely to fail. We now must think about another idea for this task.

Sometimes a lot of lakes are found as shown below :)