Efficient LiDAR-based In-water Obstacle Detection and Segmentation by Autonomous Surface Vehicles in Aquatic Environments
Mingi Jeong,Alberto Quattrini Li,Mingi Jeong,Alberto Quattrini Li
Identifying in-water obstacles is fundamental for safe navigation of Autonomous Surface Vehicles (ASVs). This paper presents a model-free method for segmenting individual in-water objects (e.g., swimmers, buoys, boats) and shorelines from LiDAR sensor data. To reduce the computational requirement, our method first converts the 3D point cloud into a 2D spherical projection image. Then, an algorithm...
