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LI X M , ZHANG X , WANG W T , et al. 3D lidar-based marine object detection for USV [J ] . Journal of Shanghai University(Natural Science Edition) , 2017 , 23 ( 1 ): 27 - 36 . (in Chinese) DOI: 10.3969/j.issn.1007-2861.2016.07.022 http://doi.org/10.3969/j.issn.1007-2861.2016.07.022 <p>To realize autonomous navigation and avoidance, it is necessary for an unmanned surface vehicle (USV) to perceive the surrounding environment in real time, and detect obstacles threatening its sailing. Three dimensional Lidar plays an important role in unmanned system obstacle detection. In this paper, an obstacle detection algorithm based on 3D Lidar is proposed. The 3D laser point cloud is projected onto a 2.5D grid map in one period. The obstacles are clustered and segmented. The elliptical feature of obstacles is extracted from the raw laser point. Dynamic obstacles are found and tracked using the<br>nearest neighbor data association and a Kalman filter. The simulation data based on the electronic chart verifies effectiveness of the method in USV obstacle detection.</p>

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