High Definition Mapping for Inland Waterways: Techniques, Challenges and Prospects

摘要

Inland waterway transport (IWT) is an efficient way of mass good transportation with low energy consumption and reasonable ecological impact. As for other transport systems, there is a need for reliable advanced driver-assistance functions and increased autonomy. In this regard, High Definition (HD) Maps play a role by enhancing vessels' localisation and perception capabilities. Obtaining HD Maps is an important step towards the ongoing digitalisation of water-based transport and forms the basis for assistant systems to captains of inland vessels or even higher automated ships. This work discusses the workflow for HD map generation by using vessels as information platforms (i.e., by having precise localisation and environment-detecting perception capabilities). An architecture for HD map generation from vessels provided with geodetic equipment for precise localisation and environment-detecting perception is presented. An overview on standard techniques for HD mapping within the automobile and robotics domain are discussed, as well as the particular challenges and needs present for water-based applications. Finally, the conceptual use and appropriate data exchange of HD Maps are drafted.