Title :
A vision-based obstacle detection system for Unmanned Surface Vehicle
Author :
Wang, Han ; Wei, Zhuo ; Wang, Sisong ; Ow, Chek Seng ; Ho, Kah Tong ; Feng, Benjamin
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
Abstract :
This paper describes a vision-based obstacle detection system for Unmanned Surface Vehicle (USV) towards the aim of real-time and high performance obstacle detection on the sea surface. By using both the monocular and stereo vision methods, the system offers the capacity of detecting and locating multiple obstacles in the range from 30 to 100 meters for high speed USV which runs at speeds up to 12 knots. Field tests in the real scenes have been taken and the obstacle detection system for USV is proven to provide stable and satisfactory performance.
Keywords :
collision avoidance; marine vehicles; mobile robots; remotely operated vehicles; robot vision; stereo image processing; monocular vision method; stereo vision method; unmanned surface vehicle; vision-based obstacle detection system; Cameras; Computer vision; Feature extraction; Image motion analysis; Optical imaging; Sea surface; Vectors; Unmanned Surface Vehicle (USV); computer vision; obstacle detection;
Conference_Titel :
Robotics, Automation and Mechatronics (RAM), 2011 IEEE Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-61284-252-3
DOI :
10.1109/RAMECH.2011.6070512
