Obstacle map building from USV using monocular camera
In the modern world, technologies advance rapidly and can be found almost everywhere in our daily life. Unmanned Surface Vehicles (USV) is expected to play a vital role in the future military and civilian affair. In Singapore, the port has played a vital role in shaping the country’s economy and Sin...
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sg-ntu-dr.10356-748212023-07-07T17:36:13Z Obstacle map building from USV using monocular camera Lim, Leslie Shao Hong Wang Han School of Electrical and Electronic Engineering DRNTU::Engineering In the modern world, technologies advance rapidly and can be found almost everywhere in our daily life. Unmanned Surface Vehicles (USV) is expected to play a vital role in the future military and civilian affair. In Singapore, the port has played a vital role in shaping the country’s economy and Singapore’s maritime industry. Thus, there is need to use USV to strengthen Singapore waters. In order for USV to accomplish harbor surveillance, it will be practical for USV to include situational awareness by sensing the immediate environment for locating obstacle. Therefore, in this report, we will be discussing the algorithm for image segmentation and obstacle detection for USV to have a situational awareness. We will use Linux Ubuntu version 16.04, OpenCV function and Robot Operating System (ROS) Kinetic as our operating system. The objective of this project is to assist in building a portion of a dynamic obstacle map from a monocular camera. Bachelor of Engineering 2018-05-24T04:41:42Z 2018-05-24T04:41:42Z 2018 Final Year Project (FYP) http://hdl.handle.net/10356/74821 en Nanyang Technological University 57 p. application/pdf |
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DRNTU::Engineering Lim, Leslie Shao Hong Obstacle map building from USV using monocular camera |
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In the modern world, technologies advance rapidly and can be found almost everywhere in our daily life. Unmanned Surface Vehicles (USV) is expected to play a vital role in the future military and civilian affair. In Singapore, the port has played a vital role in shaping the country’s economy and Singapore’s maritime industry. Thus, there is need to use USV to strengthen Singapore waters. In order for USV to accomplish harbor surveillance, it will be practical for USV to include situational awareness by sensing the immediate environment for locating obstacle. Therefore, in this report, we will be discussing the algorithm for image segmentation and obstacle detection for USV to have a situational awareness. We will use Linux
Ubuntu version 16.04, OpenCV function and Robot Operating System (ROS) Kinetic as our operating system. The objective of this project is to assist in building a portion of a dynamic obstacle map from a monocular camera. |
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Wang Han |
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Wang Han Lim, Leslie Shao Hong |
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Final Year Project |
author |
Lim, Leslie Shao Hong |
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Lim, Leslie Shao Hong |
title |
Obstacle map building from USV using monocular camera |
title_short |
Obstacle map building from USV using monocular camera |
title_full |
Obstacle map building from USV using monocular camera |
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Obstacle map building from USV using monocular camera |
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Obstacle map building from USV using monocular camera |
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obstacle map building from usv using monocular camera |
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2018 |
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http://hdl.handle.net/10356/74821 |
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1772826813461954560 |