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Erschienen in:
2021 | OriginalPaper | Buchkapitel
Obstacle Detection and Recognition Using Stereo Vision and Radar Data Alignment for USV
verfasst von : Lin Cao, Hailin Liu, Hao Gao, Hui Li
Erschienen in: Communications, Signal Processing, and Systems
Verlag: Springer Singapore
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Abstract
Environment perception technology is the first step and key technology for autonomous navigation of unmanned surface vehicle (USV) under the condition of over-the-horizon. The detection and location of marine obstacle targets are an important research content of environmental perception technology. This paper proposes a method for aligning the information of the stereo vision sensor and the millimeter-wave radar sensor without united calibration to detect and recognize the marine obstacle targets. This method extracts the position and velocity of the target as a feature vector and designs a matching evaluation function to find the best matching pair from two sensors’ data information. Finally, the article verifies the real-time and accuracy of the method by experiments.