Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle
In this paper, we applied a static obstacle mapping system for USV. This system consists of a monocular camera, GPS, and compass. An obstacle map can be built while the USV is traveling. To increase the accuracy of the system, we apply feature matching after image transformation and introduce a thre...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/148385 |
| _version_ | 1826111533333086208 |
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| author | Chen, Jiaying Wang, Han |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Chen, Jiaying Wang, Han |
| author_sort | Chen, Jiaying |
| collection | NTU |
| description | In this paper, we applied a static obstacle mapping system for USV. This system consists of a monocular camera, GPS, and compass. An obstacle map can be built while the USV is traveling. To increase the accuracy of the system, we apply feature matching after image transformation and introduce a threshold to filter motion parallax computation results. Moreover, we collect radar data as ground truth to evaluate the system performance and accuracy. According to the results of our experiments, this system can map the static obstacles with high accuracy and efficiency. |
| first_indexed | 2024-10-01T02:52:18Z |
| format | Conference Paper |
| id | ntu-10356/148385 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:52:18Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1483852021-06-05T13:56:14Z Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle Chen, Jiaying Wang, Han School of Electrical and Electronic Engineering 2019 IEEE 15th International Conference on Control and Automation (ICCA) ST Engineering-NTU Corporate Lab Engineering::Electrical and electronic engineering Monocular Camera Marine Vehicles In this paper, we applied a static obstacle mapping system for USV. This system consists of a monocular camera, GPS, and compass. An obstacle map can be built while the USV is traveling. To increase the accuracy of the system, we apply feature matching after image transformation and introduce a threshold to filter motion parallax computation results. Moreover, we collect radar data as ground truth to evaluate the system performance and accuracy. According to the results of our experiments, this system can map the static obstacles with high accuracy and efficiency. Accepted version 2021-06-05T13:52:35Z 2021-06-05T13:52:35Z 2019 Conference Paper Chen, J. & Wang, H. (2019). Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle. 2019 IEEE 15th International Conference on Control and Automation (ICCA), 512-517. https://dx.doi.org/10.1109/ICCA.2019.8899983 1948-3457 https://hdl.handle.net/10356/148385 10.1109/ICCA.2019.8899983 512 517 en MRP1B © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/ICCA.2019.8899983 application/pdf |
| spellingShingle | Engineering::Electrical and electronic engineering Monocular Camera Marine Vehicles Chen, Jiaying Wang, Han Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| title | Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| title_full | Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| title_fullStr | Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| title_full_unstemmed | Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| title_short | Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| title_sort | wide baseline obstacle mapping using monocular camera for unmanned surface vehicle |
| topic | Engineering::Electrical and electronic engineering Monocular Camera Marine Vehicles |
| url | https://hdl.handle.net/10356/148385 |
| work_keys_str_mv | AT chenjiaying widebaselineobstaclemappingusingmonocularcameraforunmannedsurfacevehicle AT wanghan widebaselineobstaclemappingusingmonocularcameraforunmannedsurfacevehicle |