Detecting And Tracking Objects In An Autonomous Surface Vehicle Using Stereo Vision

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OMRANI E.; MOUSAZADEH H.; OMID M.; TALE MASOULEH M.

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Paper Information

Journal: IRANIAN JOURNAL OF MARINE TECHNOLOGY Year:2019 | Volume:6 | Issue:3 (17) Page(s): 15-26

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Title

Detecting And Tracking Objects In An Autonomous Surface Vehicle Using Stereo Vision

Author(s)

OMRANI E. | MOUSAZADEH H. | OMID M. | TALE MASOULEH M. | Issue Writer Certificate

Keywords

Stereo cameraQ1

LocalizationQ1

trackingQ1

Digital elevation mapQ1

Extended Kalman filterQ1

Abstract

Nowadays, one of the main challenges in the maritime is the control and monitoring of ports in different weather conditions. To achieve this, Autonomous Surface Vehicles (ASV) are used. In this research, as part of the Morvarid research project, a stereo vision system was implemented on an ASV to detect, localize, and track static and dynamic objects. In order to examine the proposed obstacle detection algorithm, two sets of experiments have been designed; first, the ASV moves toward stationary objects to localize all static and dynamic objects. Second, the ASV tracks a target boat, which equipped with an RTK-GPS and estimates relative and absolute positions and movement vector. The results showed that the proposed algorithm successfully estimated 3D size and position of the surrounding objects. The accuracy of the tracking algorithm was evaluated in the Digital elevation map, with the lowest RMSE of 1. 575 (m), and 0. 6621 (m) using raw and EKF data, respectively.

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APA: Copy

OMRANI, E., MOUSAZADEH, H., OMID, M., & TALE MASOULEH, M.. (2019). Detecting And Tracking Objects In An Autonomous Surface Vehicle Using Stereo Vision. IRANIAN JOURNAL OF MARINE TECHNOLOGY, 6(3 (17) ), 15-26. SID. https://sid.ir/paper/251946/en

Vancouver: Copy

OMRANI E., MOUSAZADEH H., OMID M., TALE MASOULEH M.. Detecting And Tracking Objects In An Autonomous Surface Vehicle Using Stereo Vision. IRANIAN JOURNAL OF MARINE TECHNOLOGY[Internet]. 2019;6(3 (17) ):15-26. Available from: https://sid.ir/paper/251946/en

IEEE: Copy

E. OMRANI, H. MOUSAZADEH, M. OMID, and M. TALE MASOULEH, “Detecting And Tracking Objects In An Autonomous Surface Vehicle Using Stereo Vision,” IRANIAN JOURNAL OF MARINE TECHNOLOGY, vol. 6, no. 3 (17) , pp. 15–26, 2019, [Online]. Available: https://sid.ir/paper/251946/en

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