Wide-Baseline Stereo-Based Obstacle Mapping for Unmanned Surface Vehicles

• Main Authors: Mou, Xiaozheng, Wang, Han
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: Obstacle Mapping; Wide-baseline Stereo
• Online Access: https://hdl.handle.net/10356/89040; http://hdl.handle.net/10220/44757
• Institution: Nanyang Technological University

This paper proposes a wide-baseline stereo-based static obstacle mapping approach for unmanned surface vehicles (USVs). The proposed approach eliminates the complicated calibration work and the bulky rig in our previous binocular stereo system, and raises the ranging ability from 500 to 1000 m with...