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

Dan Hermann; Roberto Galeazzi; Jens Christian Andersen; Mogens Blanke

doi:10.1016/j.ifacol.2015.10.279

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

Dan Hermann, Roberto Galeazzi, Jens Christian Andersen, Mogens Blanke

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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 language	English
Book series	I F A C Workshop Series
Volume	48
Issue number	16
Pages (from-to)	190–197
ISSN	1474-6670
DOIs	https://doi.org/10.1016/j.ifacol.2015.10.279
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
Number	10
Location	DTU
Country/Territory	Denmark
City	Lyngby
Period	24/08/2015 → 26/08/2015
Internet address	http://www.mcmc2015.dk/

Keywords

Obstacle detection
Sensor fusion
Unmanned surface vehicle

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PWC obstacle detection final Accepted author manuscript, 947 KB

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@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",

note = "10th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC'2015 ; Conference date: 24-08-2015 Through 26-08-2015",

url = "http://www.mcmc2015.dk/",

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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

N1 - Conference code: 10

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

IS - 16

T2 - 10th IFAC Conference on Manoeuvring and Control of Marine Craft

Y2 - 24 August 2015 through 26 August 2015

ER -

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

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