Title :
Real-time obstacle detection for Unmanned Surface Vehicle
Author :
Han Wang ; Zhuo Wei ; Sisong Wang ; Chek Seng Ow ; Kah Tong Ho ; Feng, Baicheng ; Zhou Lubing
Author_Institution :
Sch. of Electr. Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
Abstract :
This paper presents a real-time obstacle detection system for obstacle detection on the sea surface for Unmanned Surface Vehicle (USV). The system employs both monocular and stereo vision-based methods and offers the capacity of detecting and locating multiple obstacles in the range from 30 to 100 meters for high speed USV. Field tests have been taken and shown that the real-time obstacle detection system for USV can provide stable and satisfactory performance.
Keywords :
collision avoidance; image sensors; marine vehicles; remotely operated vehicles; robot vision; stereo image processing; USV; monocular vision; real-time obstacle detection; sea surface; stereo vision; unmanned surface vehicle; Calibration; Cameras; Computer vision; Feature extraction; Optical reflection; Real time systems; Sea surface; Unmanned Surface Vehicle (USV); computer vision; obstacle detection;
Conference_Titel :
Defense Science Research Conference and Expo (DSR), 2011
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-9276-3
DOI :
10.1109/DSR.2011.6026880
