Affiliation:
1. Kinematics and Computational Geometry lab., School of Computer Science, Ariel University, Ariel 4070000, Israel
Abstract
Consider the case of a small, unmanned boat that is performing an autonomous mission. Naturally, such a platform might need to approximate the ocean surface of its surroundings in real-time. Much like obstacle mapping in autonomous (off-road) rovers, an approximation of the ocean surface in a vessel’s surroundings in real-time can be used for improved control and optimized route planning. Unfortunately, such an approximation seems to require either expensive and heavy sensors or external logistics that are mostly not available for small or low-cost vessels. In this paper, we present a real-time method for detecting and tracking ocean waves around a floating object that is based on stereo vision sensors. Based on a large set of experiments, we conclude that the presented method allows reliable, real-time, and cost-effective ocean surface mapping suitable for small autonomous boats.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry