外观
论文arXiv 2608.212762 个月前
海岸线作为结构约束：利用场景几何实现自主水面船定位
原文链接：The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization（arXiv 2608.21276 · 发布日期：2026-08-21）
The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization
面向GPS拒止水面船定位，利用海岸线与水面几何构建LiDAR和单目两套框架，并在三组真实海岸数据集验证。
核心要点
- 海岸环境含有丰富几何结构，可为GPS拒止下的水面船提供全局参考定位线索。
- LiDAR框架估计横滚、俯仰和升沉，并将海岸线观测与卫星海岸线地图直接配准。
- 单目框架用语义分割检测海岸线和地平线，推断海岸线距离并在层级因子图中融合。
- 三组真实海岸数据集上，LiDAR提升轨迹精度，单目方法保持长期漂移有界。
验证范围与局限：验证范围为三组真实世界海岸数据集上的GPS拒止自主水面船定位。
英文摘要 (Abstract)
Coastal environments contain rich, largely unexploited geometric structure capable of providing globally referenced localization cues. In this work, we present two complementary localization frameworks that exploit shoreline and water-surface geometry for GPS-denied autonomous surface vessel localization. The first framework leverages LiDAR observations of the water surface to estimate roll, pitch, and heave (vertical motion), while recovering global position and heading through direct registration of shoreline observations against a satellite-derived coastline map. The second framework relies solely on passive imagery to detect the shoreline and horizon through semantic segmentation. Using the proposed coastal scene geometry, shoreline distance is inferred from monocular imagery. Shoreline observations are accumulated into short-duration local submaps, registered against the same satellite-derived coastline map, and fused within a hierarchical factor graph. Evaluated across three real-world coastal datasets, the LiDAR pipeline consistently improves trajectory accuracy over standard baselines, while the monocular architecture maintains bounded long-term drift. In addition, we establish that modern zero-shot foundation models can reliably extract shoreline observations across diverse coastal environments. Together, these results demonstrate that coastal geometry provides a powerful and dependable source of globally referenced information for GPS-denied maritime localization.
作者：Derek Benham, Joshua G. Mangelson
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