Automatic detection of nearby ships using monocular vision for autonomous navigation of USVs 무인수상선의 자율운항을 위한 단안카메라 기반의 근거리 선박 자동 탐지

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Automatic detection and tracking of nearby ships are important capabilities for the autonomous operation of unmanned surface vehicles (USVs). This study focuses on achieving such capabilities in the framework of vision-based perception and sensor fusion. Reliable detection and tracking processes using a monocular camera are designed to automatically detect maneuvering targets with no prior information on the motion of targets. For a reliable trajectory estimation in low observability situations, the proposed vision-based approach uses bearing information in both the horizontal and vertical directions. In addition, the measurement by an onboard lidar is integrated into the vision-based tracking filter when the targets are in close range. The performance of the proposed method was assessed by field experiment data obtained in a real-sea environment to show the feasibility of the developed algorithms for the autonomous navigation of USV
Publisher
Institute of Control, Robotics and Systems
Issue Date
2017-06
Language
English
Article Type
Article
Keywords

Maneuverability; Optical radar; Ships; Target tracking; Vision; Autonomous navigation; Autonomous operations; Monocular vision; Tracking filter; Trajectory estimation; Vision-based approaches; Vision-based perception; Vision-based tracking; Unmanned surface vehicles

Citation

Journal of Institute of Control, Robotics and Systems, v.23, no.6, pp.416 - 423

ISSN
1976-5622
DOI
10.5302/J.ICROS.2017.17.0042
URI
http://hdl.handle.net/10203/237732
Appears in Collection
ME-Journal Papers(저널논문)
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