Shipborne sea-ice field mapping using a LiDAR

Funding Information: *Strategic Research Council at the Academy of Finland is acknowledged for financial support of project “Competence-Based Growth Through Integrated Disruptive Technologies of 3D Digitalization, Robotics, Geospatial Information and Image Processing/Computing - Point Cloud Ecosyste...

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Bibliographic Details
Published in:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Main Authors: Sandru, Andrei, Visala, Arto, Kujala, Pentti
Other Authors: Department of Electrical Engineering and Automation, Department of Mechanical Engineering, Aalto-yliopisto, Aalto University
Format: Other/Unknown Material
Language:English
Published: 2021
Subjects:
IMU
LiDAR
sea ice
ship
Antarctic
The Antarctic
Antarc*
Icebreaker
Sea ice
Online Access:https://aaltodoc.aalto.fi/handle/123456789/113162
https://doi.org/10.1109/IROS51168.2021.9636275
Description
Summary:Funding Information: *Strategic Research Council at the Academy of Finland is acknowledged for financial support of project “Competence-Based Growth Through Integrated Disruptive Technologies of 3D Digitalization, Robotics, Geospatial Information and Image Processing/Computing - Point Cloud Ecosystem” (project decision numbers 293389 and 314312). Publisher Copyright: © 2021 IEEE. The increasing interest for autonomous ships has motivated research in numerous areas. One such area is the safe navigation through ice infested waters, for which a sensor instrumentation and automated process are proposed for near-field, sea-ice 3D scanning and mapping using a ship mounted LiDAR, with attitude compensation from inertial and satellite positioning sensors. Data were collected both at the Aalto Ice Tank laboratory and on board the icebreaker S.A. Agulhas II during its voyage to the Antarctic waters. The implemented process enables automated acquisition of detailed 3D point cloud maps, containing highly valuable information for icy waters going ships currently operated by a human crew and, in the near future, supporting the development of autonomous ships. Compared to other methods using satellite, aerial or underwater data, the proposed method is a more cost-effective and easy to integrate solution into current and future icy waters going ships, thus enabling a higher level of situational awareness. Peer reviewed

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