Review on light vision detection of surface obstacles for USV

Unmanned surface vehicle (USV) is a kind of intelligent ship which can sense the external environment in real time and make correct evaluation and response to the external environment. In practical application, the detection of surface obstacles is an important prerequisite for autonomous navigation and operation of unmanned vessels. At present, there are many kinds of technologies for water surface obstacle detection. The detection technology based on optical vision has the advantages of simple structure, low cost, easy access to data and large amount of information. Compared with other perception systems, it has its unique advantages. In this paper, according to the actual process of USV water surface obstacle light vision detection, the framework of USV light vision detection system is described in general. Then according to the detection steps, the water surface image acquisition, water surface image preprocessing and water surface obstacle detection are introduced in turn. Finally, the future research direction of USV water surface obstacle light vision detection is prospected.