High-precision localization is one of the most critical components of unmanned surface vehicle (USV). However, the accuracy and robustness of traditional GPS-based localization methods in complex berthing and departing scenarios are still limited. This paper proposes a novel localization method of USV based on LiDAR semantic and geometric information in the berthing and departing scene, which integrates semantic information such as shoreline, ships, and buildings into the SLAM system to enhance the perception ability and localization accuracy of USV. First, a CNN-based berthing and departing scene perception method using LiDAR is presented, which make USV get semantic information from the port accurately. And then, to eliminate the impact of dynamic objects on registration and mapping, an enhanced semantic odometry of USV is adopted, and semantic information can be used to improve robustness while maintaining efficiency. Then, based on the factor graph, semantic LiDAR odometry factors and IMU (inertial measurement unit) pre-integration factors are constructed to optimize the pose and semantic map. Finally, experiments are conducted on real-world berthing scenarios to demonstrate the effectiveness of the proposed method. Especially, even in the case of GPS signal loss, robust and accurate localization of USV in berthing and departing scene can still be obtained.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Semantic Map-based Localization of USV Using LiDAR in Berthing and Departing Scene


    Contributors:
    Hu, Zhaozheng (author) / Zhang, Ming (author) / Meng, Jie (author) / Xiao, Hanbiao (author) / Shi, Xiancheng (author) / Long, Zijun (author)


    Publication date :

    2023-08-04


    Size :

    1186645 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Intelligent ship berthing and departing device

    YU XIU / LIU XI / JIANG XINXIN et al. | European Patent Office | 2022

    Free access

    Intelligent monitoring method for ship berthing and departing in VTS system

    ZHANG BIN / ZHANG CAN / ZHOU JINGYAN et al. | European Patent Office | 2024

    Free access

    DEPARTING MESSAGE

    Chen, Kan Editor in Chief | Taylor & Francis Verlag | 1995


    Automatic berthing device and berthing system

    MA ZHONGJUN / SUN JUNJIE / SUN PAN et al. | European Patent Office | 2023

    Free access

    Ship berthing device for yacht berthing

    WANG HONGYANG | European Patent Office | 2020

    Free access