Developments in the field of autonomous navigation have led recent studies to focus on addressing the challenges of maritime transportation in cities with rivers and canals. In this context, the construction of an Autonomous Surface Vehicle (ASV) capable of navigating through complex environments like the canals of the Venice lagoon presents a significant challenge. This thesis aims to elucidate key aspects of the perception part of this project. Initially, a comprehensive analysis of potential sensitization techniques for autonomous vessels is conducted to understand the appropriate sensor architecture. Achieving optimal environmental perception places great importance on the selection of sensors such as LiDAR and stereo cameras.