Obstacle detection for image-guided surface water navigation

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dc.contributor.authorSadhu, Tanmana
dc.contributor.supervisorBranzan Albu, Alexandra
dc.contributor.supervisorHoeberechts, Maia
dc.date.accessioned2016-09-09T22:38:48Z
dc.date.available2016-09-09T22:38:48Z
dc.date.copyright2016en_US
dc.date.issued2016-09-09
dc.degree.departmentDepartment of Electrical and Computer Engineering
dc.degree.levelMaster of Applied Science M.A.Sc.en_US
dc.description.abstractAn 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.en_US
dc.description.scholarlevelGraduateen_US
dc.identifier.urihttp://hdl.handle.net/1828/7540
dc.languageEnglisheng
dc.language.isoenen_US
dc.rightsAvailable to the World Wide Weben_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/ca/*
dc.subjectimage processingen_US
dc.subjectcomputer visionen_US
dc.subjectautonomous navigationen_US
dc.subjectsaliencyen_US
dc.subjectlinear regressionen_US
dc.titleObstacle detection for image-guided surface water navigationen_US
dc.typeThesisen_US

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