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 language | English |
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Book series | I F A C Workshop Series |
Volume | 48 |
Issue number | 16 |
Pages (from-to) | 190–197 |
ISSN | 1474-6670 |
DOIs | |
Publication status | Published - 2015 |
Event | 10th IFAC Conference on Manoeuvring and Control of Marine Craft - DTU, Lyngby, Denmark Duration: 24 Aug 2015 → 26 Aug 2015 Conference number: 10 http://www.mcmc2015.dk/ |
Conference
Conference | 10th IFAC Conference on Manoeuvring and Control of Marine Craft |
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Number | 10 |
Location | DTU |
Country/Territory | Denmark |
City | Lyngby |
Period | 24/08/2015 → 26/08/2015 |
Internet address |
Keywords
- Obstacle detection
- Sensor fusion
- Unmanned surface vehicle