Obstacle detection for lake-deployed autonomous surface vehicles using RGB imagery

Philippe Paccaud and D A Barry

PLOS ONE, 2018, vol. 13, issue 10, 1-24

Abstract: We describe and test an obstacle-detection system for small, lake-deployed autonomous surface vehicles (ASVs) that relies on a low-cost, consumer-grade camera and runs on a single-board computer. A key feature of lakes that must be accounted for is the frequent presence of the shoreline in images as well as the land-sky boundary. These particularities, along with variable weather conditions, result in a wide range of scene variations, including the possible presence of glint. The implemented algorithm is based on two main steps. First, possible obstacles are detected using an innovative gradient-based image processing algorithm developed especially for a camera with a low viewing angle to the water (i.e., the situation for a small ASV). Then, true and false positives are differentiated using correlation-based multi-frame analysis. The algorithm was tested extensively on a small ASV deployed in Lake Geneva. Under operational conditions, the algorithm processed 640×480-pixel images from a Raspberry Pi Camera at about 3—4 Hz on a Raspberry Pi 3 Model B computer. The present algorithm demonstrates that single-board computers can be used for effective and low-cost obstacle detection systems for ASVs operating in variable lake conditions.

Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0205319 (text/html)
https://journals.plos.org/plosone/article/file?id= ... 05319&type=printable (application/pdf)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:plo:pone00:0205319

DOI: 10.1371/journal.pone.0205319

Access Statistics for this article

More articles in PLOS ONE from Public Library of Science
Bibliographic data for series maintained by plosone ().