A Stereovision-based Navigation System for Autonomous Vessels

A Stereovision-based Navigation System for Autonomous Vessels

Hepworth, M. (TU Delft Transport Engineering and Logistics)
Garofano, V. (TU Delft Transport Engineering and Logistics)
Pang, Y. (TU Delft Transport Engineering and Logistics)
Reppa, V. (TU Delft Transport Engineering and Logistics)

2022

Sustainability goals have reignited interest in more fuel efficient modalities for urban freight transportation. The autonomous inland vessel has the potential to enable a modality shift to the waterway, however economically-conscious solutions to the technological challenges are lacking. This paper explores the potential role of stereovision technology as a primary sensor set within the application of autonomous inland vessels. The design of a multi-camera navigation system for mid-range perception and localisation tasks is presented with a view to providing sufficient data for collision avoidance tasks. The performance of these sensors in the application is evaluated with experimental testing using small-scale vessels in an indoor tank, demonstrating their capabilities and limitations for consideration in ongoing research.

Autonomous Surface Vehicle
Robot Navigation
Programming and Vision
Neural Networks
Multi Sensor Systems
Perception

http://resolver.tudelft.nl/uuid:f1eade11-7c0d-4ea4-8e66-3d608dae45ec

https://doi.org/10.24868/10708

2631-8741

Proceedings of the International Ship Control Systems Symposium, 16

16th International Naval Engineering Conference and Exhibition incorporating the International Ship Control Systems Symposium, INEC/iSCSS 2022, 2022-11-08 → 2022-11-10, Aula Congress Centre, Delft University of Technology, The Netherlands, Delft, Netherlands

Institutional Repository

journal article

© 2022 M. Hepworth, V. Garofano, Y. Pang, V. Reppa