Mapping Maritime Environments: Leveraging 3D-LiDAR-based Object Mapping for High Precision Electronic Nautical Charts (ENCs)

Kurzfassung

The precision and reliability of Electronic Nautical Charts (ENCs) are a fundamental pillar for autonomous maritime navigation, providing the vessel with an invaluable tool for route planning and collision avoidance. However, ENCs are far from infallible and require periodic updates that go beyond routine checks from local authorities. On this poster a framework is conceptualized, which validates and rectifies ENC data in near-real time leveraging vessel-mounted 3D LiDAR, IMU and GNSS sensors. The outlined approach incorporates domain-specific data processing, a georeferencing strategy and object classification in compliance with the S-101 standard. Applying Traffic Sequence Charts to maritime environments a comprehensive evaluation of maritime objects is performed, enabling a comparison of the observed environment with the official features in the ENCs. By identifying and correcting deficiencies in the official databases that are required for autonomous vessel navigation, safer maritime operations can be achieved.