Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Vision-Based Obstacle Collision Risk Estimation of an Unmanned Surface Vehicle

무인선의 비전기반 장애물 충돌 위험도 평가

  • Woo, Joohyun (Department of Naval Architecture and Ocean Engineering, Research Institute of Marine Systems Engineering, Seoul National University) ;
  • Kim, Nakwan (Department of Naval Architecture and Ocean Engineering, Research Institute of Marine Systems Engineering, Seoul National University)
  • 우주현 (서울대학교 조선해양공학과, 해양시스템공학연구소) ;
  • 김낙완 (서울대학교 조선해양공학과, 해양시스템공학연구소)
  • Received : 2015.08.24
  • Accepted : 2015.11.20
  • Published : 2015.12.01
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Abstract

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust image-processing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

Keywords

References

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