Stereo vision for autonomous ferries
Background & motivation
- An autonomous ferry can use a variety of sensors to keep track of its surroundings. Active sensors (radar, lidar) measure distance to objects. Passive sensors (cameras) cannot do this, and can therefore only provide angle measurements.
- Passive sensors can measure distance in a stereo configuration. The full-scale autonomous ferry milliAmpere2 (mA2) is therefore expected to use optical stereo vision to a large extent as part of its sensor fusion system.
- Research papers from the autonomous driving community have argued that stereo vision can reach sufficient accuracy to replace lidars.
- The student will followup work on stereo vision for milliAmpere 1 and transition it to mA2
- The main goal is to investigate the performance gain of stereo vision versus lidars.
- Integrate stereo equipment on milliAmpere 2, including integration with navigation system.
- Verification of intrinsic calibration. Extrinsic calibration against navigation system.
- Experiment: Record video of other boats with ground truth through GPS and/or lidar.
- Compare the performance of different stereo vision algorithms with ground truth.
- Write report.
Figure 1: Two synchronised cameras provides the distance to objects.