波の上を見通す：海上データ収集のためのモジュール型センシングフレームワーク
Seeing above the waves: A modular sensing framework for data acquisition at sea
船舶の自律化に向け、RADARやLiDARなど多様なセンサを統合した再現可能なモジュール型センサプラットフォームとROS2ベースのデータ管理ソフトウェアを設計・提案した論文。
著者: Jonathan E. Schmidt, Julius Wirbel, P. Nicholas Hansen, Morgan Louédec, Christian L. H. Westerdahl, Dimitrios Dagdilelis, Roberto Galeazzi
分類: cs.RO
原文アブストラクト
Advancing autonomy for surface vessels requires systematic evaluation of their sensing and perception subsystems. Yet, maritime environments impose unique challenges: sensor installation is constrained by vessel layout, environmental conditions such as fog or sea clutter are difficult to reproduce, and long-duration missions complicate data collection. This work addresses the question: How can we design a modular and reproducible sensor platform for maritime autonomy? We present a comprehensive design blueprint that incorporates diverse modalities - RADAR, LiDAR, IMU, GNSS, AIS, RGB and LWIR cameras, and weather sensors - to enhance environmental awareness and vessel proprioception. Supported by a dedicated ROS2-based software framework for data management, our modular platform enables long-term data collection, hardware-in-the-loop testing, and integration with existing sensors and algorithms. By unifying hardware design and data capture methodology, the platform enhances reproducibility and comparability across vessels and research projects. The proposed framework bridges engineering implementation and research methodology, providing the foundation for standardized, verifiable datasets essential to advancing situational awareness and autonomous maritime navigation.