Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles

Zoltan Rozsa, Zoltan Rozsa, Marcell Golarits, Tamas Sziranyi, Tamas Sziranyi

2021

Abstract

This paper proposes a method to provide depth information about water hazards for ground vehicles. We can estimate underwater depth even with a moving mono camera. Besides the physical principles of refraction, the method is based on the theory of multiple-view geometry and basic point cloud processing techniques. We use the information gathered from the surroundings of the hazard to simplify underwater shape estimation. We detect water hazards, estimate its surface and calculate real depth of underwater shape based on matched points using refraction principle. Our pipeline was tested on real-life experiments, on-board cameras and a detailed evaluation of the measurements is presented in the paper.

Paper Citation

in Harvard Style

Rozsa Z., Golarits M. and Sziranyi T. (2021). Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles. In Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-513-5, pages 90-99. DOI: 10.5220/0010438100900099

in Bibtex Style

@conference{vehits21,
author={Zoltan Rozsa and Marcell Golarits and Tamas Sziranyi},
title={Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles},
booktitle={Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2021},
pages={90-99},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010438100900099},
isbn={978-989-758-513-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles
SN - 978-989-758-513-5
AU - Rozsa Z.
AU - Golarits M.
AU - Sziranyi T.
PY - 2021
SP - 90
EP - 99
DO - 10.5220/0010438100900099