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Full-Text Articles in Computer Engineering
Assessing High Dynamic Range Imagery Performance For Object Detection In Maritime Environments, Erasmo Landaeta
Assessing High Dynamic Range Imagery Performance For Object Detection In Maritime Environments, Erasmo Landaeta
Doctoral Dissertations and Master's Theses
The field of autonomous robotics has benefited from the implementation of convolutional neural networks in vision-based situational awareness. These strategies help identify surface obstacles and nearby vessels. This study proposes the introduction of high dynamic range cameras on autonomous surface vessels because these cameras capture images at different levels of exposure revealing more detail than fixed exposure cameras. To see if this introduction will be beneficial for autonomous vessels this research will create a dataset of labeled high dynamic range images and single exposure images, then train object detection networks with these datasets to compare the performance of these networks. …
Neural Network Fusion Of Multi-Modal Sensor Data For Autonomous Surface Vessels, David J. Thompson
Neural Network Fusion Of Multi-Modal Sensor Data For Autonomous Surface Vessels, David J. Thompson
Doctoral Dissertations and Master's Theses
Autonomous surface vessels (ASV) can potentially improve the safety of vessels traditionally operated by humans. Despite advancements in autonomous on-road vehicles, many of these advancements have yet to be realized for ASVs. This is primarily due to lacking ASV sensing platforms and public datasets for ASV-based perception research. To that end, this dissertation demonstrates the design of a synchronized multi-modal sensing platform for ASVs utilizing GPS/INS, LiDAR, LWIR cameras, HDR camera, and high-resolution cameras. The sensing platform is designed to maximize the overlap of sensors for multi-modal research and provides accurate intrinsic and extrinsic calibration between each sensor. Furthermore, the …