Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

Research output: Contribution to journalConference articleResearchpeer-review

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Abstract

This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30 m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. A computer vision horizon detector enables a highly accurate attitude estimation despite large and sudden vehicle accelerations. This further facilitates the reduction of sea clutter by utilising a attitude based statistical measure. Full scale sea trials show a significant increase in obstacle tracking performance using sensor fusion of radar and computer vision.
Original languageEnglish
Book seriesI F A C Workshop Series
Volume48
Issue number16
Pages (from-to)190–197
ISSN1474-6670
DOIs
Publication statusPublished - 2015
Event10th IFAC Conference on Manoeuvring and Control of Marine Craft - DTU, Lyngby, Denmark
Duration: 24 Aug 201526 Aug 2015
Conference number: 10
http://www.mcmc2015.dk/

Conference

Conference10th IFAC Conference on Manoeuvring and Control of Marine Craft
Number10
LocationDTU
CountryDenmark
CityLyngby
Period24/08/201526/08/2015
Internet address

Keywords

  • Obstacle detection
  • Sensor fusion
  • Unmanned surface vehicle

Cite this

@inproceedings{7f63012d2a3242e9b07a7c7c37997e34,
title = "Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle",
abstract = "This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30 m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. A computer vision horizon detector enables a highly accurate attitude estimation despite large and sudden vehicle accelerations. This further facilitates the reduction of sea clutter by utilising a attitude based statistical measure. Full scale sea trials show a significant increase in obstacle tracking performance using sensor fusion of radar and computer vision.",
keywords = "Obstacle detection, Sensor fusion, Unmanned surface vehicle",
author = "Dan Hermann and Roberto Galeazzi and Andersen, {Jens Christian} and Mogens Blanke",
year = "2015",
doi = "10.1016/j.ifacol.2015.10.279",
language = "English",
volume = "48",
pages = "190–197",
journal = "I F A C Workshop Series",
issn = "1474-6670",
publisher = "Elsevier",
number = "16",

}

Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle. / Hermann, Dan; Galeazzi, Roberto; Andersen, Jens Christian; Blanke, Mogens.

In: I F A C Workshop Series, Vol. 48, No. 16, 2015, p. 190–197.

Research output: Contribution to journalConference articleResearchpeer-review

TY - GEN

T1 - Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

AU - Hermann, Dan

AU - Galeazzi, Roberto

AU - Andersen, Jens Christian

AU - Blanke, Mogens

PY - 2015

Y1 - 2015

N2 - This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30 m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. A computer vision horizon detector enables a highly accurate attitude estimation despite large and sudden vehicle accelerations. This further facilitates the reduction of sea clutter by utilising a attitude based statistical measure. Full scale sea trials show a significant increase in obstacle tracking performance using sensor fusion of radar and computer vision.

AB - This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30 m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. A computer vision horizon detector enables a highly accurate attitude estimation despite large and sudden vehicle accelerations. This further facilitates the reduction of sea clutter by utilising a attitude based statistical measure. Full scale sea trials show a significant increase in obstacle tracking performance using sensor fusion of radar and computer vision.

KW - Obstacle detection

KW - Sensor fusion

KW - Unmanned surface vehicle

U2 - 10.1016/j.ifacol.2015.10.279

DO - 10.1016/j.ifacol.2015.10.279

M3 - Conference article

VL - 48

SP - 190

EP - 197

JO - I F A C Workshop Series

JF - I F A C Workshop Series

SN - 1474-6670

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ER -