NDLI: A laser range-finder scanner system for precise manoeuver and obstacle avoidance in maritime and inland navigation

Content Provider	IEEE Xplore Digital Library
Author	Jimenez, A.R. Ceres, R. Seco, F.
Copyright Year	2005
Description	Author affiliation: CSIC, Inst. de Autom. Ind., Madrid, Spain (Jimenez, A.R.; Ceres, R.; Seco, F.)
Abstract	A new maritime navigation system based on a laser range-finder scanner is described in this paper. Initially, the advantages of the Ladar system over the existing radar techniques are outlined. Then, the requirements of the Ladar regarding angles of exploration, measurement range and precision for different kinds of maritime operations are analysed. The principal components of this system: the laser range-finder, the scanning unit and the data processing and displaying unit, are described in detail giving their main characteristics. The Ladar pseudoimage formation process is described. These images are then processed for the extraction of features of interest, which are continuously tracked for obstacle avoidance and precise manoeuver operations using Kalman filtering techniques. Finally, sets of test are performed in different scenarios: open-sea navigation including entering the port and pier, and river navigation approaching bridges and locks. Some problems are identified, related to the maximum range achievable, the density of Ladar image, and other minor aspects, which need more work to be solved, but in general the results are quite promising and encourage us to continue working in this direction.
Sponsorship	IEEE Region 8 IEEE Croatia Section Ministry of Sci., Educ., and Sports of the Republic of Croatia Univ. of Zagreb Faculty of Elec. Eng. and Comput. in Zagreb Univ. of Zadar
Starting Page	101
Ending Page	106
File Size	412922
Page Count	6
File Format	PDF
ISBN	9537044025
ISSN	13342630
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-18
Publisher Place	Croatia
Access Restriction	Subscribed
Rights Holder	Croatian Soc. Electronics in Marine, ELMAR
Subject Keyword	Laser radar Navigation Filtering Goniometers Data processing Feature extraction Radar tracking Data mining Kalman filters Testing
Content Type	Text
Resource Type	Article

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