Raspberry PI Based Stereo Vision For Small Size ASVs

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Neves, R (Autor) Outra; Aníbal Castilho Coimbra de Matos (Autor) FEUP

Ata de Conferência Internacional

Título: 2013 OCEANS - SAN DIEGO

MTS/IEEE Oceans Conference

San Diego, CA, SEP 23-27, 2013

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 13 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6