A Stereovision-based Navigation System for Autonomous Inland Vessels

M. Hepworth*, V. Garofano, Y. Pang, V. Reppa

*Corresponding author for this work

Research output: Contribution to journalConference articleScientificpeer-review

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Sustainability goals have reignited interest in more fuel efficient modalities for urban freight transportation. The autonomous inland vessel has the potential to enable a modality shift to the waterway, however economically-conscious solutions to the technological challenges are lacking. This paper explores the potential role of stereovision technology as a primary sensor set within the application of autonomous inland vessels. The design of a multi-camera navigation system for mid-range perception and localisation tasks is presented with a view to providing sufficient data for collision avoidance tasks. The performance of these sensors in the application is evaluated with experimental testing using small-scale vessels in an indoor tank, demonstrating their capabilities and limitations for consideration in ongoing research.
Original languageEnglish
Article number6
Number of pages11
JournalProceedings of the International Ship Control Systems Symposium
Publication statusPublished - 2022
Event16th International Naval Engineering Conference and Exhibition incorporating the International Ship Control Systems Symposium, INEC/iSCSS 2022 - Aula Congress Centre, Delft University of Technology, The Netherlands, Delft, Netherlands
Duration: 8 Nov 202210 Nov 2022
Conference number: 16



  • Autonomous Surface Vehicle
  • Robot Navigation
  • Programming and Vision
  • Neural Networks
  • Multi Sensor Systems
  • Perception


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