期刊
AUTONOMOUS ROBOTS
卷 38, 期 4, 页码 349-362出版社
SPRINGER
DOI: 10.1007/s10514-015-9419-2
关键词
Unmanned surface vehicle; Vehicle navigation; Simultaneous localization and mapping; Three-dimensional reconstruction
资金
- KI Project through KAIST Institute of Design of Complex Systems
Navigation relative to the surrounding physical structures and obstacles is an important capability for safe vehicle operation. This capability is particularly useful for unmanned surface vehicles (USVs) operating near large structures such as bridges, waterside buildings, towers and cranes, where global positioning system signals are restricted or unavailable due to the line-of-sight restrictions. This study proposes a high-precision navigation technique using dead-reckoning sensors and lidars, which enables building a parameterized map of artificial bridge structures and estimating the vehicle's position relative to the parameterized map simultaneously. Also, three-dimensional reconstruction of the surrounding structures is carried out by fusing camera and lidar measurements for realistic 3D visual mapping which may facilitate automated surveys and inspection of structural safety. Field experiments using a newly developed USV system in a real-world bridge environment were performed to verify and demonstrate the performance of the proposed navigation and mapping algorithms. The field test results are presented and discussed in this paper.
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