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

Research output: Contribution to journalConference article – Annual report year: 2015Researchpeer-review

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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
Issue number16
Pages (from-to)190–197
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


Conference10th IFAC Conference on Manoeuvring and Control of Marine Craft
Internet address
CitationsWeb of Science® Times Cited: No match on DOI

    Research areas

  • Obstacle detection, Sensor fusion, Unmanned surface vehicle

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