Obstacle detection from overhead imagery using self-supervised learning for Autonomous Surface Vehicles

We describe a technique for an Autonomous Surface Vehicle (ASV) to learn an obstacle map by classifying overhead imagery. Classification labels are supplied by a front-facing sonar, mounted under the water line on the ASV. We use aerial imagery from two online sources for each of two water bodies (a small lake and a harbor) and train classifiers using features generated from each image source separately, followed by combining their output. Data collected using a sonar mounted on the ASV were used to generate the labels in the experimental study. The results show that we are able to generate accurate obstacle maps well-suited for ASV navigation.