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https://hdl.handle.net/10356/148385| Title: | Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle | Authors: | Chen, Jiaying Wang, Han |
Keywords: | Engineering::Electrical and electronic engineering | Issue Date: | 2019 | Source: | Chen, J. & Wang, H. (2019). Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle. 2019 IEEE 15th International Conference on Control and Automation (ICCA), 512-517. https://dx.doi.org/10.1109/ICCA.2019.8899983 | Project: | MRP1B | Conference: | 2019 IEEE 15th International Conference on Control and Automation (ICCA) | Abstract: | In this paper, we applied a static obstacle mapping system for USV. This system consists of a monocular camera, GPS, and compass. An obstacle map can be built while the USV is traveling. To increase the accuracy of the system, we apply feature matching after image transformation and introduce a threshold to filter motion parallax computation results. Moreover, we collect radar data as ground truth to evaluate the system performance and accuracy. According to the results of our experiments, this system can map the static obstacles with high accuracy and efficiency. | URI: | https://hdl.handle.net/10356/148385 | ISSN: | 1948-3457 | DOI: | 10.1109/ICCA.2019.8899983 | Schools: | School of Electrical and Electronic Engineering | Research Centres: | ST Engineering-NTU Corporate Lab | Rights: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/ICCA.2019.8899983 | Fulltext Permission: | open | Fulltext Availability: | With Fulltext |
| Appears in Collections: | EEE Conference Papers |
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| File | Description | Size | Format | |
|---|---|---|---|---|
| Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle.pdf | 1.78 MB | Adobe PDF |  View/Open |
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