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《Optical Technique》 2018-05
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Obstacle identification method based on laser radar for inland unmanned vessel

WANG Guishu;XIE Shuo;LIU Chenguang;CHU Xiumin;LI Zilong;Wuhan Technical College of Communications;Wuhan University of Technology,Engineering Research Center for Transportation Safe;Wuhan University,The State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing;  
The USV(unmanned surface vessels)has a wide application prospect in the inland waterway environment.The intelligent perception of obstacles is the key to realize the autonomous navigation of inland USV.Firstly,considering the short-range perception demand for inland USV,the characteristics of the laser data of the main obstacles in inland river are analyzed.Secondly,typical obstacles recognition(detection and classification)method based on SVM is put forward based on the data pre-processing,i.e.,pattern analysis,data filtering,and clustering isolation points.Finally,the obstacle recognition method is validated in the experimental pool environment,and the experimental results show that the recognition rate of the proposed method is above 85%,basically meet the requirement of unmanned navigation of inland USV.
【Fund】: 湖北省教育厅重点科技项目(D20085102)
【CateGory Index】: TN958.98;U665.26
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