Vision-based navigation of an unmanned surface vehicle with object detection and tracking abilities

• Main Authors: Shin, Bok-Suk, Mou, Xiaozheng, Mou, Wei, Wang, Han
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Unmanned Surface Vehicle; Autonomous Vehicle
• Online Access: https://hdl.handle.net/10356/138421
• Institution: Nanyang Technological University

The paper discusses autocalibration, object detection, and object tracking for unmanned surface vehicles. Input data are recorded with a wide-baseline stereo vision system providing accuracy for distance estimations. The paper reports about followed ways and novel contributions for ensuring a working system solution. Automatic self-calibration is used for the wide-baseline stereo vision system. Robust sea surface estimation and the detection of the horizon support the understanding of the given scene environment. Long-range (i.e. up to 500 m) object detection and tracking are supported by the used wide-baseline stereo system. The paper informs about the complete system design, informs about applied or designed methods, and also about experiments which verify that the system achieved an operational state.