Towards LIDAR-RADAR based terrain mapping

Guerrero, José Alfredo; Jaud, Marion; Lenain, Roland; Rouveure, R.; Faure, Patrice

doi:10.1109/arso.2015.7428208

Cited by 8 publications

(6 citation statements)

References 13 publications

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“…One of a few attempts to use both radar and LiDAR in the navigation of mobile robots was described in [31][32][33], which also highlighted new development directions for land mapping based on radar and LiDAR. An approach using radar and LiDAR fusion to detect obstacles was taken in [34], an attempt to replace the radar with LiDAR was shown in [35] and the aspects of obstacle sensing by synthetic aperture radar interferometry was presented in [36].…”

Section: Situation Awarness Systems For Asvmentioning

confidence: 99%

The Empirical Application of Automotive 3D Radar Sensor for Target Detection for an Autonomous Surface Vehicle’s Navigation

et al. 2019

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Avoiding collisions with other objects is one of the most basic safety tasks undertaken in the operation of floating vehicles. Addressing this challenge is essential, especially during unmanned vehicle navigation processes in autonomous missions. This paper provides an empirical analysis of the surface target detection possibilities in a water environment, which can be used for the future development of tracking and anti-collision systems for autonomous surface vehicles (ASV). The research focuses on identifying the detection ranges and the field of view for various surface targets. Typical objects that could be met in the water environment were analyzed, including a boat and floating objects. This study describes the challenges of implementing automotive radar sensors for anti-collision tasks in a water environment from the perspective of target detection with the application for small ASV performing tasks on the lake.

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Section: Situation Awarness Systems For Asvmentioning

confidence: 99%

The Empirical Application of Automotive 3D Radar Sensor for Target Detection for an Autonomous Surface Vehicle’s Navigation

et al. 2019

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“…However, the use of automotive three-dimensional (3D) radar for target detection and tracking on water is novel. Automotive radar has been proved to work for some onshore tasks, including pedestrian tracking [30][31][32][33] and terrain mapping [34,35]. Radar technology is often also used as part of a larger combined system for navigational purposes, for example in 3D mapping [36], sensor fusion [37], and navigational decision support systems [38][39][40].…”

Section: Problem Definition and Major Contributionmentioning

confidence: 99%

Shore Construction Detection by Automotive Radar for the Needs of Autonomous Surface Vehicle Navigation

Stateczny

Kazimierski

Burdziakowski

et al. 2019

IJGI

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Autonomous surface vehicles (ASVs) are becoming more and more popular for performing hydrographic and navigational tasks. One of the key aspects of autonomous navigation is the need to avoid collisions with other objects, including shore structures. During a mission, an ASV should be able to automatically detect obstacles and perform suitable maneuvers. This situation also arises in near-coastal areas, where shore structures like berths or moored vessels can be encountered. On the other hand, detection of coastal structures may also be helpful for berthing operations. An ASV can be launched and moored automatically only if it can detect obstacles in its vicinity. One commonly used method for target detection by ASVs involves the use of laser rangefinders. The main disadvantage of this approach is that such systems perform poorly in conditions with bad visibility, such as in fog or heavy rain. Therefore, alternative methods need to be sought. An innovative approach to this task is presented in this paper, which describes the use of automotive three-dimensional radar on a floating platform. The goal of the study was to assess target detection possibilities based on a comparison with photogrammetric images obtained by an unmanned aerial vehicle (UAV). The scenarios considered focused on analyzing the possibility of detecting shore structures like berths, wooden jetties, and small houses, as well as natural objects like trees or other kinds of vegetation. The recording from the radar was integrated into a single complex radar image of shore targets. It was then compared with an orthophotomap prepared from AUV camera pictures, as well as with a map based on traditional land surveys. The possibility and accuracy of detection for various types of shore structure were statistically assessed. The results show good potential for the proposed approach—in general, objects can be detected using the radar—although there is a need for development of further signal processing algorithms.

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“…The autonomous neural network support learning phase can be monitored and controlled. Laser scanner for autonomous navigation is quite popular and was presented in the literature [3,5,7,8,9,15,18,24]. Radar sensor in not so popular like laser sensor but also was presented in some papers [4,10].…”

Section: Autonomous Versus Automatic Modementioning

confidence: 99%

Universal Autonomous Control and Management System for Multipurpose Unmanned Surface Vessel

Stateczny

Burdziakowski

2019

Polish Maritime Research

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The paper presents design, structure and architecture of the Universal Autonomous Control and Management System (UACAMS) for multipurpose unmanned surface vessel. The system was designed, installed and implemented on the multipurpose platform - unmanned surface vessel named HydroDron. The platform is designed to execute hydrographic survey missions with multi-variant configuration of the survey system (payload?) including multi-beam echo sounder, sonar, LiDAR, automotive radar, photographic and spectral camera systems. The UACAMS designed to provide flexibility that enables to operate on the different kind of surface platform and different type of functional payload. The full system configuration provides all four level of autonomy starting from remotely controlled to full autonomous mission. Each level can be implemented and run depending on user specific requirements. The paper explains the differences between autonomous and automatic mission and shows how the autonomy is implemented into the presented system. The full hardware structural design as well as the software architecture are described. In order to confirm initial assumptions the applied system was tested during four- week sea trials and tuned for a selected vessel to confirm assumptions. In the project, also the original shore control station was designed, produced and tested for the vessel, including specific user controls and radio communication system. Conclusions sum up all crucial points of the design and system implementation process.

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Towards LIDAR-RADAR based terrain mapping

Cited by 8 publications

References 13 publications

The Empirical Application of Automotive 3D Radar Sensor for Target Detection for an Autonomous Surface Vehicle’s Navigation

The Empirical Application of Automotive 3D Radar Sensor for Target Detection for an Autonomous Surface Vehicle’s Navigation

Shore Construction Detection by Automotive Radar for the Needs of Autonomous Surface Vehicle Navigation

Universal Autonomous Control and Management System for Multipurpose Unmanned Surface Vessel

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