2024年12月16日 · The SLAM system utilizes graph optimization to enhance localization and mapping accuracy, ultimately generating an accurate global trajectory and a global map that support reliable navigation for the USV in inland waterway scenarios.

mastr1325是一个新的大规模海洋语义分割训练数据集，专门用于开发小型沿海usv的障碍物检测方法。该数据集包含了在两年时间内用真实的usv捕获的1325幅不同的图像，涵盖了在沿海监视任务中遇到的一系列现实条件。

2019年1月3日 · In this study, the relative navigation with respect to the surrounding coastlines is performed in the framework of simultaneous localization and mapping (SLAM) for a USV operation in coastal waters. In particular, coastline features are parameterized by using B-splines for efficient map management, instead of the conventional point cloud ...

2021年2月20日 · 针对真实内河航道中usv感知和定位的要求和挑战，该数据集主要用于三个任务:SLAM/里程测量、立体匹配和水体分割。 通过发布本数据集，希望USVInland能够支持水面自动驾驶的研究，更好地解决独特的航行场景带来的挑战，从而推动内河航道无人船的开发。

2023年2月1日 · To satisfy the USV positioning needs in the positioning satellite signal obscured areas, such as under a dock or bridge or in a tunnel, we propose a LiDAR SLAM-assisted unmanned surface vessel fusion positioning method ‘Navigation of USV’, abbreviated as NavUSV, which adopts a carrier-based phase-difference separation based GNSS/INS loosely ...

2021年3月12日 · 最近，欧卡智舶联合清华大学与西北工业大学的研究学者公开了一个针对真实内河水域场景下多传感器、多天气条件下的内河无人船数据集USVlnland 。 为无人船及水面自动驾驶领域相关研究者提供一个平台和基准，推动解决内河无人船在真实场景应用中面临的挑战。 近年来，内河无人船因其潜在的应用价值而受到广泛关注，不同于海面无人船和路面自动驾驶场景，内河行驶的无人船的定位和感知面临着独特的挑战。

Abstract: This study addresses the development of SLAM based autonomous navigation, path planning and collision avoidance systems for the Heron unmanned surface vehicle (USV). Exteroceptive sensors including Velodyne 3D VLP32 lidar, Axis pan-tilt-zoom (PTZ) camera and omni directional camera are installed onboard to provide sensing and ...

2016年1月1日 · In this paper, a radar-based localization via automatic map matching is proposed for unmanned surface vehicle (USV) navigation in a littoral area. A pulse radar is employed to collect surrounding coastline information, and relative position of the vehicle with respect to the pre-built map is estimated by coastline matching.

本文将以激光雷达、相机和惯性测量单元（Inertial Measurement Unit，IMU）作为无人船的传感器，研究适合近岸水面环境的多传感器融合SLAM算法，并将其实际应用在无人船上。

2024年12月16日 · Therefore, this paper proposes a laser-based simultaneous localization and mapping (SLAM) algorithm for accurate localization and mapping in inland waterway scenarios. Inertial measurement unit...