Abstract
In the research of the autonomous surface vehicles (ASV), the goal is the obstacle detection and avoidance. The obstacle detection is one of the most important tasks to fulfill to ensure the safety of the boat and the possibility to define the most adequate manoeuver commands. These tasks are possible only if the handling of the sensors informations are highly accurate. ASAROME embedded several sensors to provide this information: an omnidirectional camera, an inertial measurement unit , two hydrophones and a sonar. In this paper we are focusing on the integration of vision sensor and Inertial Measurement Unit (IMU) to address the problem of obstacles detection. The paper is organized as follows. First, the calibration of sensors is presented. Second, estimations of the boat initial pose and the pose in real time are described. Third, the obstacle detection using a colorimetric criterion is presented. Finally, we have tested the system’s ability to detect and locate the obstacle position.
Published Version
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