Wide-baseline obstacle mapping using monocular camera for unmanned surface vehicle

In this paper, we applied a static obstacle mapping system for USV. This system consists of a monocular camera, GPS, and compass. An obstacle map can be built while the USV is traveling. To increase the accuracy of the system, we apply feature matching after image transformation and introduce a threshold to filter motion parallax computation results. Moreover, we collect radar data as ground truth to evaluate the system performance and accuracy. According to the results of our experiments, this system can map the static obstacles with high accuracy and efficiency.Accepted versio