Skip to content
Extra Form
Abstract The unmanned surface vehicle (USV) is recently getting more attention with the development of autonomous navigation technology. The USV operates for various purposes, such as marine reconnaissance and survey, and it can operate as a group according to specific scenarios. In this study, a method of obstacle detection and tracking of USVs using multi-view images in marine environment was proposed. We assumed each USV detected marine obstacles by the camera mounted on itself and tracked the position and speed of the obstacles. For this, the YOLO algorithm, which is one of the real-time object detection algorithms based on CNN (Convolutional Neural Network), was adopted after fine tuning. Subsequently, the relative position of the detected obstacle was estimated through the position estimation algorithm of a monocular camera. Then, the position, speed, and course of each obstacle were tracked using the extended Kalman filter. Finally, the accuracy of the tracking results was improved through the data fusion of the tracked data from multiple USVs. The proposed method was validated through the actual field test using multiple USVs. As a result, it was confirmed that the proposed method could be useful in detecting and traking the obstacles in maritime environment.
Publication Date 2022-09-13

Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Obstacle Detection and Tracking of Unmanned Surface Vehicles Using Multi-view Images in Marine Environment", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2022, Yokohama, Japan, 2022.09.13-15


List of Articles
번호 분류 제목 Publication Date
20 International Conference Yoon-Nam An, Joo-Sung Lee, Myung-Il Roh, Bum-Sang Yoon, Kyoung-Sik Chang, "Shape Optimization of Structural Member Based on Isogeometry Concept", Proceedings of the 24th Asian-Pacific TEAM(Technical Exchange and Advisory Meeting on Marine Structures) 2010, Vladivostok, Russia, pp. 343-348, 2010.08.23-26 file 2010-08-23
19 International Conference Yoon-Nam An, Joo-Sung Lee, Myung-Il Roh, Bum-Sang Yoon, Kyoung-Sik Chang, "Parametric Study of Mesh Refinement in Isogeometric Analysis", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2010, Beijing, China, pp. 809-812, 2010.06.20-26 file 2010-06-20
18 International Conference Yoon-Nam An, Joo-Sung Lee, Myung-Il Roh, Bum-Sang Yoon, Kyoung-Sik Chang, "Parametric Study of Isogeometric Analysis Using NURBS", Proceedings of the 23rd Asian-Pacific TEAM(Technical Exchange and Advisory Meeting on Marine Structures) 2009, Kaohsiung, Taiwan, pp. 169-173, 2009.11.30-12.03 file 2009-11-30
17 International Conference Bo-Hyun Lee, Kyoung-Sik Chang, Bum-Sang Yoon, Joo-Sung Lee, Myung-Il Roh, "Large Eddy Simulation of Fully Turbulent Channel Flow Using Variational Multiscale Method", Proceedings of the 23rd Asian-Pacific TEAM(Technical Exchange and Advisory Meeting on Marine Structures) 2009, Kaohsiung, Taiwan, pp. 93-97, 2009.11.30-12.03 file 2009-11-30
16 International Conference John-Kyu Hwang, Geun-Jae Bang, Myung-Il Roh, Kyu-Yeul Lee, "Detailed Design and Construction of the Hull of an FPSO(Floating, Production, Storage, and Off-loading unit)", Proceedings of ISOPE 2009, Osaka, Japan, pp. 151-158, 2009.06.21-26 file 2009-06-21
15 International Conference Ji-Hyun Hwang, Young-Joo Ahn, Joon-Ho Min, Gwang-No Lee, Ho-Jin Jeong, Mung-Yu Kim, Hee-Chang Kim, Myung-Il Roh, Kyu-Yeul Lee, "Application of an Integrated Basic Process Engineering Solution to Generic LNG FPSO Topsides", Proceedings of ISOPE 2009 file 2009-06-21
14 International Conference Ji-Hyun Hwang, Ju-Hwan Cha, Seung-Ho Ham, Bo-Ram Kim, Myung-Il Roh, Kyu-Yeul Lee, "Establishment of Offshore Process FEED Method for Oil-Based FPSO Topsides Systems", Proceedings of ISOPE 2009, Osaka, Japan, pp. 144-150, 2009.06.21-26 file 2009-06-21
13 International Conference Ju-Hwan Cha, Seung-Ho Ham, Kyu-Yeul Lee, Myung-Il Roh, Kwang-Pil Park, Heung-Won Suh, "Discrete Event/Discrete Time Simulation of Block Erection by a Floating Crane based on Multibody System Dynamics", Proceedings of ISOPE 2009, Osaka, Japan file 2009-06-21
12 International Conference Ji-Hyun Hwang, Joon-Ho Min, Young-Joo Ahn, Hee-Chang Kim, Myung-Il Roh, Kyu-Yeul Lee, "Optimized Methodology to Build an Integrated Solution to Offshore Topside Process Engineering", Proceedings of ISOPE 2008, Vancouver, Canada, 2008.07.06-11 file 2008-07-06
11 International Conference Ju-Hwan Cha, Myung-Il Roh, Seung-Ho Ham, Kyu-Yeul Lee, Kwang Phil Park, Heung Won Suh, "Development of an Integrated Simulation Framework and Its Application to Shipbuilding Process Planning", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2007, Portsmouth, UK, pp. 283-290, 2007-09.18-20 file 2007-09-18
Board Pagination Prev 1 ... 5 6 7 8 9 10 11 12 13 14 Next
/ 14

Powered by Xpress Engine / Designed by Sketchbook

sketchbook5, 스케치북5

sketchbook5, 스케치북5

나눔글꼴 설치 안내


이 PC에는 나눔글꼴이 설치되어 있지 않습니다.

이 사이트를 나눔글꼴로 보기 위해서는
나눔글꼴을 설치해야 합니다.

설치 취소