Obstacle detection for image-guided surface water navigation




Sadhu, Tanmana

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An issue of concern for maritime safety when operating a small to medium-sized sailboat is that the presence of hazards in the navigational route in the form of floating logs can lead to a severe collision if undetected. As a precautionary measure to prevent such a collision with a log, a 2D vision-based detection system is proposed. We take a combined approach involving predictive mapping by linear regression and saliency detection. This approach is found to overcome specific issues related to the illumination changes and unstructured environment in the dataset. The proposed method has been evaluated using precision and recall measures. This proof of concept demonstrates the potential of the method for deployment on a real-time onboard detection system. The algorithm is robust and of reasonable computational complexity.



image processing, computer vision, autonomous navigation, saliency, linear regression