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My team of 4 students (Daniel Burleson, Robert Lee, Liam Scott-Moncrieff and myself) partnered with a company I had previously worked with to develop a robust, retrofittable, and real-time solution to boat auto docking for our engineering Capstone project.
We developed a system with several novel solutions in the field to allow for a more robust feature set. For instance, our system is agnostic to mounting precision and location for the stereo cameras we base our system on, this allows for easy retrofits and simpler OEM installation.
The system requires only low-cost RGB stereo cameras as input. Our final implemented system takes a target GPS location and maps and determines a safe path and commands the onboard Joystick System for autonomous docking, all in real-time.
Unfortunately, due to time restrictions and delays due to Covid-19 we were unable to perform full integration of our system with our sponsor's boats for on-water testing.
This image shows the generated target map in the top left along with our projected path, shows the current map and vision of the cameras (white objects, blue previously in field of vision, red current field of vision) on the bottom left, and finally shows the two camera views on the right.
ECE 499 Final Poster.pdfGoogle Sites
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