NDLI: Stereovision aided navigation of an Autonomous Surface Vehicle

Content Provider	IEEE Xplore Digital Library
Author	Jianhua Wang Pingping Huang Changfeng Chen Wei Gu Jianxin Chu
Copyright Year	2011
Description	Author affiliation: Marine Technology & Control Engineering Key Laboratory, Shanghai Maritime University, China (Jianhua Wang; Pingping Huang; Changfeng Chen; Wei Gu; Jianxin Chu)
Abstract	This paper presents a stereovision system to aid in navigating an Autonomous Surface Vehicle (ASV). The ASV is guided to follow a path mainly by GPS, while the stereovision system is designed for assisting it to avoid obstacles or follow a target floating on water surface. After calibration, the stereovision system can estimate the positions of floating objects founded simultaneously by both cameras, which can be used to plan the path such that the ASV can reach the target fast and avoid collision with other objects around. In fine sea state, when an obstacle is large enough and its color is different from the water surface obviously, the stereovision system can navigate the ASV to avoid it successfully. If the obstacle is small or difficult for the ASV to distinguish from the background, the operator in front of the console of the base station on a mother ship or on the shore can intervene in and guide the ASV remotely according to the couples of images from the two cameras.
Starting Page	130
Ending Page	133
File Size	1686329
Page Count	4
File Format	PDF
ISBN	9781424488094
e-ISBN	9781424488100
DOI	10.1109/ICACC.2011.6016382
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-01-18
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereovision obstacle avoidance navigation Navigation Image edge detection Lead Cameras autonomous surface vehicle
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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