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

Xiaozheng Mou1, Han Wang2

  • 1School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore. xmou1@ntu.edu.sg.

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Summary

This study introduces a wide-baseline stereo system for unmanned surface vehicles (USVs) to map static obstacles up to 1000m. The approach enhances obstacle detection range and accuracy in maritime environments.

Keywords:
obstacle mappingunmanned surface vehiclevisual odometrywide-baseline stereo

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Area of Science:

  • Robotics
  • Computer Vision
  • Maritime Technology

Background:

  • Current methods for static obstacle mapping on unmanned surface vehicles (USVs) often require complex calibration and have limited ranging capabilities.
  • Existing binocular stereo systems face challenges with bulky equipment and restricted detection distances.

Purpose of the Study:

  • To develop a wide-baseline stereo-based static obstacle mapping approach for USVs.
  • To enhance the ranging ability and reduce system complexity compared to previous methods.
  • To enable real-time obstacle mapping in maritime environments.

Main Methods:

  • Utilized a wide-baseline stereo system leveraging the motion of USVs for an extended baseline.
  • Integrated a monocular camera with GPS and compass data for world localization of obstacles.
  • Employed a weighting model with multiple frame pairs to synthesize final reconstruction results for improved accuracy and robustness.

Main Results:

  • Achieved a significant increase in ranging ability from 500m to 1000m.
  • Successfully reconstructed world locations of static obstacles while the USV was in motion.
  • Demonstrated the high efficiency of the proposed system through experimental results on a custom dataset.

Conclusions:

  • The proposed wide-baseline stereo approach offers an efficient and effective solution for static obstacle mapping in maritime environments.
  • This method eliminates the need for complicated calibration and bulky rigs, making it practical for USVs.
  • The system provides enhanced ranging capabilities, crucial for safe navigation and operation of unmanned surface vehicles.