A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection
Unmanned surface vehicles (USVs) have wide applications in marine inspection and monitoring, terrain mapping, and water surface cleaning. Accurate and robust environment perception ability is essential for achieving autonomy in USVs. Small object detection on water surfaces is an important environme...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/9/1794 |
| _version_ | 1797579303070728192 |
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| author | Jiannan Zhu Yixin Yang Yuwei Cheng |
| author_facet | Jiannan Zhu Yixin Yang Yuwei Cheng |
| author_sort | Jiannan Zhu |
| collection | DOAJ |
| description | Unmanned surface vehicles (USVs) have wide applications in marine inspection and monitoring, terrain mapping, and water surface cleaning. Accurate and robust environment perception ability is essential for achieving autonomy in USVs. Small object detection on water surfaces is an important environment perception task, typically achieved by visual detection using cameras. However, existing vision-based small object detection methods suffer from performance degradation in complex water surface environments. Therefore, in this paper, we propose a millimeter-wave (mmWave) radar-aided vision detection method that enables automatic data association and fusion between mmWave radar point clouds and images. Through testing on real-world data, the proposed method demonstrates significant performance improvement over vision-based object detection methods without introducing more computational costs, making it suitable for real-time application on USVs. Furthermore, the image–radar data association model in the proposed method can serve as a plug-and-play module for other object detection methods. |
| first_indexed | 2024-03-10T22:35:12Z |
| format | Article |
| id | doaj.art-79b5b79be84a47beaf6dc2cff5e828d5 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T22:35:12Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-79b5b79be84a47beaf6dc2cff5e828d52023-11-19T11:27:28ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-09-01119179410.3390/jmse11091794A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object DetectionJiannan Zhu0Yixin Yang1Yuwei Cheng2School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710068, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710068, ChinaORCA-Uboat, Xi’an 710004, ChinaUnmanned surface vehicles (USVs) have wide applications in marine inspection and monitoring, terrain mapping, and water surface cleaning. Accurate and robust environment perception ability is essential for achieving autonomy in USVs. Small object detection on water surfaces is an important environment perception task, typically achieved by visual detection using cameras. However, existing vision-based small object detection methods suffer from performance degradation in complex water surface environments. Therefore, in this paper, we propose a millimeter-wave (mmWave) radar-aided vision detection method that enables automatic data association and fusion between mmWave radar point clouds and images. Through testing on real-world data, the proposed method demonstrates significant performance improvement over vision-based object detection methods without introducing more computational costs, making it suitable for real-time application on USVs. Furthermore, the image–radar data association model in the proposed method can serve as a plug-and-play module for other object detection methods.https://www.mdpi.com/2077-1312/11/9/1794unmanned surface vehicleobject detectionvisual–radar fusion |
| spellingShingle | Jiannan Zhu Yixin Yang Yuwei Cheng A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection Journal of Marine Science and Engineering unmanned surface vehicle object detection visual–radar fusion |
| title | A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection |
| title_full | A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection |
| title_fullStr | A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection |
| title_full_unstemmed | A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection |
| title_short | A Millimeter-Wave Radar-Aided Vision Detection Method for Water Surface Small Object Detection |
| title_sort | millimeter wave radar aided vision detection method for water surface small object detection |
| topic | unmanned surface vehicle object detection visual–radar fusion |
| url | https://www.mdpi.com/2077-1312/11/9/1794 |
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