Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

D. Hermann; R. Galeazzi; J.C. Andersen; M. Blanke

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Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

机译：基于智能传感器的高速无人水面车辆障碍物检测

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This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. A computer vision horizon detector enables a highly accurate attitude estimation despite large and sudden vehicle accelerations. This further facilitates the reduction of sea clutter by utilising a attitude based statistical measure. Full scale sea trials show a significant increase in obstacle tracking performance using sensor fusion of radar and computer vision.

机译：本文介绍了一种用于速度高达30m / s的高速敏捷无人水面飞行器（USV）的障碍物检测系统。目的是使用雷达和视觉技术的实时高性能障碍物检测系统，以检测175 m范围内的障碍物。尽管车辆突然突然加速，但计算机视觉地平线检测器仍可实现高度准确的姿态估计。通过利用基于姿态的统计量，这进一步有助于减少海浪混乱。全面的海试表明，使用雷达和计算机视觉的传感器融合，障碍物的追踪性能显着提高。

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来源
《IFAC PapersOnLine》 |2015年第16期|共8页
作者
D. Hermann; R. Galeazzi; J.C. Andersen; M. Blanke;
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中图分类自动化技术、计算机技术;
关键词
Obstacle detectionSensor fusionUnmanned surface vehicle;

机译：障碍物检测传感器融合无人水面载具;

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专利

1. Real-Time Monocular Obstacle Detection Based on Horizon Line and Saliency Estimation for Unmanned Surface Vehicles [J] . Liu Jingyi, Li Hengyu, Liu Jun, Mobile networks & applications . 2021,第3期

机译：基于地平线线的实时单眼障碍物检测无人用车辆
2. Efficient obstacle detection based on prior estimation network and spatially constrained mixture model for unmanned surface vehicles [J] . Jingyi Liu, Hengyu Li, Jun Luo, Journal of Field Robotics . 2021,第2期

机译：基于现有估计网络的高效障碍物检测和无人面车辆的空间约束混合模型
3. Fast Image-Based Obstacle Detection From Unmanned Surface Vehicles [J] . Kristan Matej, Sulic Kenk Vildana, Kovacic Stanislav, Cybernetics, IEEE Transactions on . 2016,第3期

机译：无人地面车辆的基于图像的障碍物快速检测
4. Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle [C] . D. Hermann, R. Galeazzi, J. C. Andersen, IFAC International Conference on Manoeuvring and Control of Marine Craft . 2016

机译：基于智能传感器的高速无人曲面车辆的障碍物检测
5. Vision Based Adaptive Obstacle Detection, Robust Tracking and 3D Reconstruction for Autonomous Unmanned Aerial Vehicles [D] . Bharati, Sushil Pratap. 2018

机译：自主无人机的基于视觉的自适应障碍物检测，鲁棒跟踪和3D重构
6. Wide-Baseline Stereo-Based Obstacle Mapping for Unmanned Surface Vehicles [O] . Xiaozheng Mou, Han Wang 2018

机译：无人地面飞行器的宽基线立体障碍物映射
7. Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle [O] . Hermann Dan, Galeazzi Roberto, Andersen Jens Christian, 2015

机译：基于智能传感器的高速无人水面车辆障碍物检测
8. Development of Sensor Component for Terrain Evaluation and Obstacle Detection for an Unmanned Autonomous Vehicle [R] . Solanki, S. C. 2007

机译：无人自主飞行器地形评估与障碍物检测传感器组件的研制

Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

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