Enhancing Inland Waterway Transport Through LiDAR-Based Updates to Electronic Navigational Charts

Inland Waterway Transport (IWT) has significant potential for efficient goods transportation across Europe, but it has not been fully utilized, particularly in smaller waterways. This paper proposes an advanced algorithm that integrates LiDAR scanning, Inland Electronic Navigational Charts (IENC), and Real-Time Kinematic Global Navigation Satellite System (RTK GNSS) to enhance navigation accuracy in these complex environments. The algorithm aims to dynamically update IENCs by detecting and processing real-time information about environmental features that IENCs may not accurately represent, such as variations in water levels and the growth of shoreline vegetation. Key components of this system include a spatial unit IENC search algorithm, a point cloud processing method leveraging HDBSCAN and RANSAC, and a rasterization-based mapping technique to ensure high accuracy and efficiency. The experimental verification was conducted on a 6.10-meter test vessel Maverick, equipped with the necessary sensors, sailing on a section of the Leuven-Dijle canal. The results demonstrate that the algorithm effectively detects waterway boundaries and bridge dimensions in real time, accurately reflecting the actual topography and updating the IENC to facilitate crew navigation. Additionally, by processing data at 4 Hz, the system ensures real-time obstacle detection, which is crucial for the safe and efficient operation of unmanned surface vehicles (USVs). The integration of LiDAR, IENC, and RTK GNSS marks a significant advancement in the utilization of IWT, providing robust solutions for both environmental monitoring and chart updating.