Raspberry PI Based Stereo Vision For Small Size ASVs

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Neves, R (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP

Conference proceedings International

Title: 2013 OCEANS - SAN DIEGO

MTS/IEEE Oceans Conference

San Diego, CA, SEP 23-27, 2013

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 13 Citations

Other information

Authenticus ID: P-009-D8M

Abstract (EN): This paper presents an approach to stereovision applied to small water vehicles. By using a small low-cost computer and inexpensive off-the-shelf components, we were able to develop an autonomous driving system capable of following other vehicle and moving along paths delimited by coloured buoys. A pair of webcams was used and, with an ultrasound sensor, we were also able to implement a basic frontal obstacle avoidance system. With the help of the stereoscopic system, we inferred the position of specific objects that serve as references to the ASV guidance. The final system is capable of identifying and following targets in a distance of over 5 meters. This system was integrated with the framework already existent and shared by all the vehicles used in the OceanSys research group at INESC - DEEC/FEUP.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6