Integration of stereo vision and MOOS-IvP for enhanced obstacle detection and navigation in unmanned surface vehicles

• Main Authors: Alhattab, Yousef Abd, Zainal Abidin, Zulkifli, Faizabadi, Ahmed Rimaz, Mohd Zaki, Hasan Firdaus, Ibrahim, Ahmad Imran
• Format: Article
• Language: English; English
• Published: IEEE 2023
• Subjects: T175 Industrial research. Research and development; VM Naval architecture. Shipbuilding. Marine engineering
• Online Access: http://irep.iium.edu.my/108313/8/108313_Integration%20of%20stereo%20vision%20and%20MOOS-IvP%20for%20enhanced.pdf; http://irep.iium.edu.my/108313/14/108313_Integration%20of%20stereo%20vision%20and%20MOOS-IvP%20for%20enhanced_SCOPUS.pdf; http://irep.iium.edu.my/108313/; https://ieeexplore.ieee.org/document/10314528?source=authoralert

This paper addresses the development of a stereo vision-based obstacle avoidance system using MOOS-IvP for small and medium-sized Unmanned Surface Vehicles (USVs). Existing methods predominantly rely on optical sensors such as LiDAR and cameras to discern maritime obstacles within the short- to mid-...