外观
论文arXiv 2608.109972 个月前
看见海浪之上：用于海上数据采集的模块化感知框架
原文链接：Seeing above the waves: A modular sensing framework for data acquisition at sea（arXiv 2608.10997 · 发布日期：2026-08-11）
Seeing above the waves: A modular sensing framework for data acquisition at sea
针对水面船舶海上感知数据采集与复现实验困难，提出融合多模态传感器和ROS2数据管理的模块化框架。
核心要点
- 海事环境中传感器安装受船体布局限制，雾、海杂波和长航时任务增加采集难度。
- 设计蓝图整合RADAR、LiDAR、IMU、GNSS、AIS、RGB/LWIR相机和气象传感器。
- ROS2软件框架负责数据管理，支持长期采集、硬件在环测试及与既有传感器和算法集成。
- 统一硬件设计与数据采集方法，旨在提升不同船舶和研究项目间的可复现性与可比性。
英文摘要 (Abstract)
Advancing autonomy for surface vessels requires systematic evaluation of their sensing and perception subsystems. Yet, maritime environments impose unique challenges: sensor installation is constrained by vessel layout, environmental conditions such as fog or sea clutter are difficult to reproduce, and long-duration missions complicate data collection. This work addresses the question: How can we design a modular and reproducible sensor platform for maritime autonomy? We present a comprehensive design blueprint that incorporates diverse modalities - RADAR, LiDAR, IMU, GNSS, AIS, RGB and LWIR cameras, and weather sensors - to enhance environmental awareness and vessel proprioception. Supported by a dedicated ROS2-based software framework for data management, our modular platform enables long-term data collection, hardware-in-the-loop testing, and integration with existing sensors and algorithms. By unifying hardware design and data capture methodology, the platform enhances reproducibility and comparability across vessels and research projects. The proposed framework bridges engineering implementation and research methodology, providing the foundation for standardized, verifiable datasets essential to advancing situational awareness and autonomous maritime navigation.
作者：Jonathan E. Schmidt, Julius Wirbel, P. Nicholas Hansen, Morgan Louédec, Christian L. H. Westerdahl, Dimitrios Dagdilelis, Roberto Galeazzi
来源
本页事实对应的公开页面，以原文为准。