Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark
نویسندگان
چکیده
Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways attracted increasing attention potential application in autonomous monitoring, transportation, cleaning. However, unlike sailing open water, the challenges posed by scenes of waterways, such as complex distribution obstacles, global positioning system (GPS) signal denial environment, reflection bank-side structures, fog surface, all impede USV waterways. To address these problems stimulate relevant research, we introduce USVInland, a multisensor dataset The collection USVInland spans trajectory more than 26 km diverse real-world using various modalities, including lidar, stereo cameras, millimeter-wave radar, GPS, inertial measurement units (IMUs). Based on requirements perception navigation build benchmarks simultaneous localization mapping (SLAM), matching, segmentation. We evaluate common algorithms above tasks determine influence unique waterway algorithm performance. Our development tools are available at.1
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ژورنال
عنوان ژورنال: IEEE robotics & automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3067271