A Stereovision-based Navigation System for Autonomous Vessels

Journal article (2022)

Authors

M. Hepworth Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
V. Garofano Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Y. Pang Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
V. Reppa Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 M. Hepworth, V. Garofano, Y. Pang, V. Reppa
DOI: https://doi.org/10.24868/10708
More Info
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Published Date

2022

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

Sustainability goals have reignited interest in more fuel efficient modalities for urban freight transportation. The autonomous inland vessel has the potential to enable a modality shift to the waterway, however economically-conscious solutions to the technological challenges are lacking. This paper explores the potential role of stereovision technology as a primary sensor set within the application of autonomous inland vessels. The design of a multi-camera navigation system for mid-range perception and localisation tasks is presented with a view to providing sufficient data for collision avoidance tasks. The performance of these sensors in the application is evaluated with experimental testing using small-scale vessels in an indoor tank, demonstrating their capabilities and limitations for consideration in ongoing research.