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

This paper proposes a wide-baseline stereo-based static obstacle mapping approach for unmanned surface vehicles (USVs). The proposed approach eliminates the complicated calibration work and the bulky rig in the authors' previous binocular stereo system, and raises the ranging ability from 500 to 1000 m with a even larger baseline obtained from the motion of USVs. Integrating a monocular camera with GPS and compass information in this proposed system, the world locations of the detected static obstacles are reconstructed while the USV is traveling, and an obstacle map is then built. To achieve more accurate and robust performance, multiple pairs of frames are leveraged to synthesize the final reconstruction results in a weighting model. Experimental results based on the authors' own dataset demonstrate the high efficiency of their system. To the best of the authors' knowledge, they are the first to address the task of wide-baseline stereo-based obstacle mapping in a maritime environment.


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Media Info

  • Media Type: Web
  • Features: Figures; Photos; Tables;
  • Pagination: 14p
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  • Publication flags:

    Open Access (libre)

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Filing Info

  • Accession Number: 01672465
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Apr 26 2018 12:06PM