Ha-Yun Kim, Myung-Il Roh, Yeong-Min Jo, Hye-Won Lee, Yun-Sik Kim, In-Chang Yeo, "A Track-to-track Fusion Method for Tracking Maritime Obstacles", accepted for publication in International Journal of Naval Architecture and Ocean Engineering, 2026.06.20
| Abstract | Accurate tracking of maritime obstacles is essential to ensuring safe ship navigation. To this end, a variety of sensors—such as AIS (Automatic Identification System), RADAR (RAdio Detection And Ranging), LiDAR (Light Detection And Ranging), and cameras—are widely employed. Data from these sensors is used to estimate the state of surrounding obstacles. However, each sensor has unique characteristics, including its detection range and measurement frequency, making it challenging to achieve stable and precise tracking with a single sensor. Therefore, a sensor fusion method for obstacle tracking is required to compensate for each sensor’s strengths and weaknesses. In this study, we proposed a track-to-track fusion method to improve the tracking accuracy of maritime obstacles by integrating RADAR and camera data. The RADAR data were processed using the CA-CFAR (Cell Averaging-Constant False Alarm Rate) algorithm, and the camera data were processed using YOLOv11 (You Only Look Once v11) to detect maritime obstacles. The EKF (Extended Kalman Filter) was then applied to the detection values from both sensors to track the maritime obstacles. These tracking results were then integrated using a track-to-track fusion method applying the WMA (Weighted Moving Average) algorithm. Finally, the proposed method was validated across a range of maritime encounter scenarios using a virtual simulator that emulates the maritime environment. As a result, the track-to-track fusion method recorded mean tracking errors of 9.91 m (95.81%) for position, 10.88° (71.10%) for COG (Course Over Ground), and 1.34 knots (79.68%) for SOG (Speed Over Ground), relative to the single-sensor-based tracking method (100%). Therefore, the track-to-track fusion method achieved reductions of 4.19% in position, 28.90% in COG, and 20.32% in SOG, significantly improving performance compared to the single-sensor-based tracking method. These results indicate that the track-to-track fusion method effectively enhances the reliability of maritime obstacle tracking. |
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| Publication Date | 2026-06-20 |
| Role | Corresponding Author |
| Category | SCIE |
| Impact Factor | 4.4 |
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Yun-Sik Kim, Myung-Il Roh, Ha-Yun Kim, In-Chang Yeo, Nam-Sun Son, "A Method of Learning-based Tracking for Maritime Obstacles Using a Transformer", accepted for publication in Ocean Engineering, 2026.07.07
CategoryInternational Journal -
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Hyewon Lee, Myung-Il Roh, Yerin Kim, "Hybrid Multibody Dynamics-based Model Predictive Control of Suspended Blocks for Floating Cranes in Waves", accepted for publication in Journal of Computational Design and Engineering, 2026.07.01
CategoryInternational Journal -
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Ha-Yun Kim, Myung-Il Roh, Yeong-Min Jo, Hye-Won Lee, Yun-Sik Kim, In-Chang Yeo, "A Track-to-track Fusion Method for Tracking Maritime Obstacles", International Journal of Naval Architecture and Ocean Engineering, 2026.06.20
CategoryInternational Journal -
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In-Chang Yeo, Myung-Il Roh, Yun-Sik Kim, A Method for Generating a 3D Environmental Map Using a Stereo Camera for Autonomous Berthing of an Unmanned Surface Vehicle", International Journal of Naval Architecture and Ocean Engineering, 2026.05.23
CategoryInternational Journal -
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Min-Chul Kong, Myung-Il Roh, In-Su Han, Seong-Won Choi, Jeongyeon Kim, “A Method for Transferring Piping Designs Using Past Project Data in Shipbuilding”, International Journal of Naval Architecture and Ocean Engineering, 2026.03.02
CategoryInternational Journal -
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Dong-Woo Kim, Myung-Il Roh, Yong-Tai Kim, Minkyu Park, Mun-gwan Choi, Jin-Hyeok Kim, "A Nonlinear Methodology for the Sloshing Assessment in the Membrane-type LNG Cargo Containment System", accepted for publication in Ocean Engineering, 2025.12.29
CategoryInternational Journal -
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In-Su Han, Myung-Il Roh, Min-Chul Kong, "A RAG-based Q&A System for Ship Regulations Applying Domain Adaptation", International Journal of Naval Architecture and Ocean Engineering, Vol. 18, pp. 100735.1-18, 2025.12.23
CategoryInternational Journal -
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Hyun Soo Kim, Myung-Il Roh, "Data-driven Model for Predicting Tank Pressure of an LNG Carrier Considering Environmental Effects", International Journal of Naval Architecture and Ocean Engineering, Vo.l. 18, 2026.01.01
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In-Chang Yeo, Myung-Il Roh, Yun-Sik Kim, Ha-Yun Kim, Do-Hyeok Ahn, Nam-Sun Son, "A Localization Method of Nearby Ships Based on 3D Object Detection Using a Camera", International Journal of Naval Architecture and Ocean Engineering, 2025.11.12
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Seong-Won Choi, Myung-Il Roh, In-Chang Yeo, Won-Chul Yoo, Seon-Do Han, "A Route Planning Method for Small Ships Based on Historical AIS Data", Ocean Engineering, Vol. 343, Part 3, 123372, 2026.01.15
CategoryInternational Journal -
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In-Su Han, Myung-Il Roh, Min-Chul Kong, “An Automated Method for Converting P&IDs in Shipbuilding to Structured Graphs”, International Journal of Naval Architecture and Ocean Engineering, Vol. 17, pp. 100696.1-20, 2025.10.04
CategoryInternational Journal -
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In-Chang Yeo, Myung-Il Roh, Dong-Guen Jeong, Jun-Sik Lee, "A Route Planning Method for Small Ships Inside the Marina", International Journal of Naval Architecture and Ocean Engineering, Vol. 17, pp. 100684.1-16, 2025.08.13
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Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, “An MLP (Multi-Layer Perceptron)-Based Method for Optimizing Multiple Hull Forms at Once Using Surrogate Modeling with Geometric Moments”, Ocean Engineering, Vol. 339, Part 1, 2025.11.15
CategoryInternational Journal -
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Yun-Sik Kim, Myung-Il Roh, Ha-Yun Kim, In-Chang Yeo, "An Improved Method of Detecting the Horizon for Tracking Maritime Obstacles", Ocean Systems Engineering, Vol. 15, No. 2, pp. 219-239, 2025.06.30
CategoryInternational Journal -
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In-Su Han, Myung-Il Roh, Min-Chul Kong, Seoyoon Park, Jeongyoul Lee, "Search Method for Ship Regulations Based on Semantic Similarity Using Natural Language Processing", Ships and Offshore Structures, 2025.05.12
CategoryInternational Journal -
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Min-Chul Kong, Myung-Il Roh, In-Su Han, ..., "A Representation Method of Pipe Connections and Routing Space in Pipe Auto-routing Using Graph and Octree Structures", Ocean Engineering, Vol. 329, 121204, pp. 1-18, 2025.06.15
CategoryInternational Journal -
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Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, “A Method for Generating Multiple Hull Forms at Once Using MLP (Multi-Layer Perceptron)”, Ocean Engineering, Vol. 324, pp. 120659.1-20, 2025.04.30
CategoryInternational Journal -
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Dong-Guen Jeong, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Jun-Sik Lee, “A Route Planning Method for Small Ships in Coastal Areas Based on Quadtree”, IJNAOE, Vol. 17, pp. 100647.1-17, 2025.02.03
CategoryInternational Journal -
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Ki-Su Kim, Myung-Il Roh, “Review of Ship Arrangement Design Using Optimization Methods”, Journal of Computational Design and Engineering, Vol. 12, No. 1, pp. 100-121, 2025.01.31
CategoryInternational Journal -
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Dong-Woo Kim, Myung-Il Roh, Do-Hyun Chun, Sun-Hong Woo, Yong-Tai Kim, “A Method for the Profile Optimization of the Primary Barrier of a Membrane-type LNG Tank Using Surrogate Modeling”, Ocean Engineering, Vol. 317, 2025.02.01
CategoryInternational Journal