Stereovision Aided Navigation of an Autonomous Surface Vehicle
This paper presents a stereovision system to aid in navigating an Autonomous Surface Vehicle (ASV). The ASV is guided to follow a path mainly by GPS, while the stereovision system is designed for assisting it to avoid obstacles or follow a target floating on water surface. After calibration, the stereovision system can estimate the positions of floating objects founded simultaneously by both cameras, which can be used to plan the path such that the ASV can reach the target fast and avoid collision with other objects around. In fine sea state, when an obstacle is large enough and its color is different from the water surface obviously, the stereovision system can navigate the ASV to avoid it successfully. If the obstacle is small or difficult for the ASV to distinguish from the background, the operator in front of the console of the base station on a mother ship or on the shore can intervene in and guide the ASV remotely according to the couples of images from the two cameras.
Stereovision navigation autonomous surface vehicle obstacle avoidance
Jianhua Wang Pingping Huang Changfeng Chen Wei Gu Jianxin Chu
Marine Technology & Control Engineering Key Laboratory Shanghai Maritime University Shanghai, China
国际会议
2011 3rd International Conference on Advanced Computer Control(2011年IEEE第三届高端计算机控制国际会议 ICACC2011)
哈尔滨
英文
130-133
2011-01-18（万方平台首次上网日期，不代表论文的发表时间）