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Obstacle detection through sensor fusion is unmanned surface vehicles

Franc Oven (2014) Obstacle detection through sensor fusion is unmanned surface vehicles. EngD thesis.

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    In our diploma thesis we issue a navigation problem of autonomous surface vehicles. Presume we have a vessel appointed with sensors, such as GPS, IMU, compass, a stereo sistem of two cameras and a standalone processing unit that combines sensor data and performs segmentation and planning in real time. We begin by introducing the algorithm of segmentation, that along with help of advanced computer vision methods extracts useful visual information, therefore avoids obstacles in its path (boats, swimmers, buoys). Then, we focus on horizon estimation by taking into account data of innertial measurement unit, with whom we improve the estimation of a sea border. To improve localization of obstacles in front of the vessel, we calculate depth of every pixel in the image. Image pairs are first rectified as we simplify the correspondence search to single dimension. Furthermore, we present, implement and evaluate our methods. We conclude by discussing further work that can be done.

    Item Type: Thesis (EngD thesis)
    Keywords: stereo system, 3D inference, inertial measurement unit, horizon, seg- mentation
    Number of Pages: 58
    Language of Content: Slovenian
    Mentor / Comentors:
    Name and SurnameIDFunction
    doc. dr. Matej Kristan4053Mentor
    Link to COBISS: http://www.cobiss.si/scripts/cobiss?command=search&base=51012&select=(ID=1536127939)
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Item ID: 2738
    Date Deposited: 19 Sep 2014 17:10
    Last Modified: 22 Dec 2014 15:12
    URI: http://eprints.fri.uni-lj.si/id/eprint/2738

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