Research | Autonomous Boat

A GPS-aided Omnidirectional Visual-Inertial State Estimator in Ubiquitous Environments

We developed a GPS-aided omnidirectional visual-inertial state estimator capable of operating in ubiquitous environments and platforms. The proposed odometry achieves drift ratio less than 0.5% in 1200 m length outdoors campus road in overexposure conditions and 0.65% in open water surface, without a loop closure, compared with a centimeter accuracy GPS reference.

Yang Yu, Wenliang Gao, Chengju Liu, Shaojie Shen, Ming Liu, A GPS-aided Omnidirectional Visual-Inertial State Estimator in Ubiquitous Environments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 4-8, 2019, Macau, China. pdf

Recent data collection of the USV platform on the HKUST shoreline

We record the data collection experiments of our USV platform with Lidar, omnidirectional camera, IMU and RTK DGPS.

A recent collection of research in autonomous boat

A recent collection of results on autonomous boat system including planning, tranversibility extraction, mapping, etc.