TY  - GEN
AB  - 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.
AD  - Delft University of Technology
AD  - Delft University of Technology
AD  - Delft University of Technology
AD  - Delft University of Technology
AU  - Hepworth, M
AU  - Garofano, V
AU  - Pang, Y
AU  - Reppa, V
DA  - 2022-09-12
DO  - 10.24868/10708
DO  - doi
ID  - 10708
JF  - Conference Proceedings of iSCSS
KW  - Autonomous Surface Vehicle
KW  - Robot Navigation
KW  - Programming and Vision
KW  - Neural Networks
KW  - Multi Sensor Systems
KW  - Perception
L1  - https://library.imarest.org/record/10708/files/10708.pdf
L2  - https://library.imarest.org/record/10708/files/10708.pdf
L4  - https://library.imarest.org/record/10708/files/10708.pdf
LK  - https://library.imarest.org/record/10708/files/10708.pdf
N2  - 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.
PY  - 2022-09-12
T1  - A Stereovision-based Navigation System for Autonomous Inland Vessels
TI  - A Stereovision-based Navigation System for Autonomous Inland Vessels
UR  - https://library.imarest.org/record/10708/files/10708.pdf
VL  - iSCSS 2022
Y1  - 2022-09-12
ER  -