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All-Around Above-Water Sensing For Recreational Boaters
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2020
[PDF-1.55 MB]
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Description:This report details the progress of Phase 2 of our project with Brunswick Corporation incoordination with the Mercury Marine division to increase situational awareness of recreational boaters. In this phase, we integrated marine radar, a lidar, two cameras, and an infrared camera on board the Boston Whaler R/V Philos. We tested these sensors and collected time-synced marine perception datasets. We developed scripts to process and analyze the datasets. The scripts combine all data into a rosbag format, a standard log format used by Robot Operating System (ROS), which allows us to take advantage of the ROS based RVIZ data visualization program. We installed infrastructure throughout the boat to mount the sensors, as well as installing Ethernet and 120 V power throughout R/V Philos. Additionally we further developed the autonomous capabilities of “RoboWhaler” to test lidar based object detection and avoidance, as well as testing that the new SBG Systems INS was working as planned.
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Sea Grant Document Number:MIT-T-20-002
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Rights Information:Public Domain
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Compliance:Library
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