An estimation algorithm for improved maritime obstacle detection

Amir Alaqeb, Abdelrhman Mohamed and Rashid, Muhammad Mahbubur and Mohd Zaki, Hasan Firdaus and Embong, Abd Halim (2024) An estimation algorithm for improved maritime obstacle detection. In: 9th International Conference on Mechatronics Engineering (ICOM’24), 13-14 August 2024, Kuala Lumpur, Malaysia.

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Abstract

This paper presents an advanced estimation algorithm for improving obstacle detection in maritime navigation by integrating data from Velodyne LiDAR HDL-32E and a ZED2I depth camera on the Riptide Unmanned Surface Vehicle. Utilizing a pre-trained YOLOv8L model, the ZED2I camera identifies objects and estimates distances using RGB and depth data. The LiDAR system, developed in Python and C++, features adaptive clustering and an obstacle detector, aligning its point cloud to a 110-degree field of view to match the camera's perspective. A specialized ROS node facilitates data fusion by prioritizing ZED2I camera data, enhancing detection accuracy through comparisons with LiDAR data. Extensive testing, including calibration adjustments like Z-axis alignment and a 4 cm offset correction between the camera and LiDAR, has demonstrated the system's refined accuracy in controlled tests, underscoring the necessity of continuous calibration. This approach exemplifies the benefits of hybrid data management and precise sensor alignment in enhancing maritime navigation safety.

Item Type:	Proceeding Paper (Plenary Papers)
Uncontrolled Keywords:	Maritime Navigation, Sensor Fusion, Obstacle Detection, Robot Operating System (ROS), LiDAR and Depth Sensing, YOLOv8L, Data Fusion, Unmanned Surface Vehicle (USV), Real-Time Data Processing.
Subjects:	T Technology > T Technology (General) > T175 Industrial research. Research and development
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Hasan Firdaus Mohd Zaki
Date Deposited:	05 Jun 2025 15:39
Last Modified:	05 Jun 2025 15:46
URI:	http://irep.iium.edu.my/id/eprint/121358

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