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Information Platform Concept for HD Inland Waterway Mapping

Hösch, Lukas and Arias Medina, Daniel (2023) Information Platform Concept for HD Inland Waterway Mapping. Autonomous Inland and Short Sea Shipping Conference, 2023-09-05 - 2023-09-06, Duisburg.

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While encouraging inland waterway transport (IWT) as an efficient way of mass good transportation, traffic circulation on inland waterways is expected to increase. Precise and well-updated chart data is a key-factor for safe operation and furthermore required by advanced driver assistant systems (ADAS). Traditional survey methods are intense in cost and time. Furthermore, regarding the representation of bridges in inland waterway maps, traditional survey methods are limited to the description of horizontal and vertical clearances. The project AutonomSOW [1] addresses these challenges by equipping a relevant number of inland vessels with sensors for visual perception and precise navigation. These vessels can then be treated as information platforms, that acquire spatial mapping data while being underway. From the spatial mapping data, bridge contours are extracted and transmitted to a database to create a self updating HD-chart of inland waterways. This work presents the deployment of the described sensor platform for measurement campaigns and discusses the characteristics of different sensors with respect to IWT-related infrastructure mapping. An overview of our concept for HD mapping is illustrated in Fig. 1. The HW selection and mounting are justified, along with the navigation, perception and mapping algorithms employed. Regarding the HW, DLR's research vessel AURORA, a 9-meter motorboat (Quicksilver Pilothouse 675), is used as moving platform. For localization purposes, AURORA incorporates three GNSS (Global Navigation Satellite System) geodetic antennas and receivers and two inertial measurement units (IMU), with differential and high precision GNSS correction data received over GSM. As perception sensors, AURORA features two stereo-cameras with different focal lengths, three LiDAR (Light Detection and Ranging) sensors with different characteristics (i.e., various horizontal and vertical field of views, number of channels or maximum range). A SoNAR (Sound Navigation and Ranging) sensor is used for water depth mapping. As the mentioned sensors would be necessary already for the implementation of ADAS, it is desirable to include them in the process of map generation for exactly these systems. Possible precision shortcomings compared to traditional survey methods are expected to be leveraged by the numerical interpolation of various measurements. Literature [1] Alberding GmbH (2022) Projektsteckbrief autonomsow ii. [Online]. Available: https://www.autonomsow.de/autonomsow2.html

Item URL in elib:https://elib.dlr.de/199507/
Document Type:Conference or Workshop Item (Speech)
Title:Information Platform Concept for HD Inland Waterway Mapping
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hösch, LukasUNSPECIFIEDhttps://orcid.org/0000-0002-0656-6502UNSPECIFIED
Arias Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Date:5 September 2023
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Inland waterway transport, perception, global SLAM
Event Title:Autonomous Inland and Short Sea Shipping Conference
Event Location:Duisburg
Event Type:international Conference
Event Start Date:5 September 2023
Event End Date:6 September 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Transport System
DLR - Research area:Transport
DLR - Program:V VS - Verkehrssystem
DLR - Research theme (Project):V - FuturePorts
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Hösch, Lukas
Deposited On:29 Nov 2023 18:52
Last Modified:24 Apr 2024 21:00

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