Abstract
Automation and robotics are essential for the effective monitoring and inspection of maritime critical infrastructures and marine environments. We demonstrate the use of an unmanned surface vehicle, integrated with acoustic and optical sensors, to perform fast and accurate inspections of maritime infrastructures in confined areas (i.e., presence of buildings and multiple obstacles). High resolution maps are obtained fusing offline data from LiDAR and 2D acoustic multi-beam forward looking camera point clouds. The technological pipeline is demonstrated through a survey in Copenhagen harbour. The data acquisition leverages on methods to improve path planning and localization to correct failures in the RTK GNSS due to shadowing of buildings and other obstacles. The entire data flow is streamlined to produce fast delivery time and data access, optimizing data acquisition and processing, providing results into a dedicated web service tailored to users’ needs for knowledge and information extraction.
Original language | English |
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Title of host publication | Proceedings of 2024 27th International Conference on Information Fusion (FUSION) |
Number of pages | 8 |
Publisher | IEEE |
Publication date | 2024 |
ISBN (Electronic) | 978-1-7377497-6-9 |
DOIs | |
Publication status | Published - 2024 |
Event | 27th International Conference on Information Fusion - Venice, Italy Duration: 8 Jul 2024 → 11 Jul 2024 |
Conference
Conference | 27th International Conference on Information Fusion |
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Country/Territory | Italy |
City | Venice |
Period | 08/07/2024 → 11/07/2024 |
Keywords
- Sensor fusion
- Surveillance
- Infrastructure monitoring
- Forward looking sonar
- LiDAR