Skip to content

Publication System Design Laboratory

Home Publication Conference
✔ 뷰어로 보기
International Conference
2023.10.23 10:46

Yeong-min Jo, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Do-Hyun Chun, Min-chul Kong, "An Improved Method for the Sensor Fusion for Autonomous Ships", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20

SyDLab
조회 수 132
Atachment
첨부 '1'
?

단축키

Prev이전 문서

Next다음 문서

가 크게 작게 위로 아래로 댓글로 가기 인쇄
?

단축키

Prev이전 문서

Next다음 문서

가 크게 작게 위로 아래로 댓글로 가기 인쇄
Extra Form
Abstract To avoid obstacles in an autonomous ship, it is necessary to track the exact location of each obstacle. For this purpose, sensors such as AIS (Automatic Identification System), RADAR (RAdio Detection And Ranging), and cameras are used for detecting other obstacles. Since each sensor has different characteristics, such as error distribution, detection period, and blind spot, it is necessary to use each sensor’s data simultaneously to supplement each other to detect obstacles accurately. This is where sensor fusion methods play a critical role. The sensor fusion method estimates the exact position, speed, and direction of the obstacles based on the state information of the obstacles tracked through different sensor data. In the previous study, we applied one of the sensor fusion methods, which fused the sensor data with the weights calculated from the error distribution. However, in the method, some of the sensor characteristics were difficult to be reflected on tracking results and did not affect the weights of the sensor fusion method. To address this issue, we implemented various methods for sensor fusion and compared their performance. To evaluate the effectiveness of the sensor fusion methods, a ship navigation situation was implemented in a virtual environment similar to reality. We implemented a multiple object tracking situation in the virtual environment to see if we could simultaneously track and fuse different obstacles well. Three types of sensors were used in the environment: AIS, RADAR, and camera. Tracking and fusion were performed by generating sensor data virtually. Each fusion method was applied based on a track-level fusion structure, which fuses tracking results for each sensor data. The effectiveness of each fusion method was confirmed by comparing the fusion result with the actual position of the objects to be detected. It was confirmed that most of the methods were improved compared to the fusion results in the previous study.
Publication Date 2023-10-20

Yeong-Min Jo, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Do-Hyun Chun, Min-Chul Kong, "An Improved Method for the Sensor Fusion for Autonomous Ships", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20

위로 아래로 댓글로 가기 인쇄
  1. No Image 26Jul
    by SyDLab
    in International Conference

    Yeongmin Jo, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "A Ship Tracking Method under Dynamic Characteristic Changes with LSTM", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10

  2. No Image 30Mar
    by SyDLab
    in International Conference

    In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, "An Optimization Method of the Surround-View Camera System for Automatic Berthing of Ships", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10

  3. No Image 26Jul
    by SyDLab
    in International Conference

    Do-Hyun Chun, Myung-Il Roh, In-Chang Yeo, "Optimum Design of Membrane-type LNG Tanks for Installing Insulation", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10

  4. No Image 30Mar
    by SyDLab
    in International Conference

    Min-Chul Kong, Myung-Il Roh, Jisang Ha, Jeong-Ho Park, EunSeok Jin, Donghun Yu, "Integrated Navigation Assistance System Using Augmented Reality", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10

  5. No Image 13Feb
    by SyDLab
    in International Conference

    Min-Chul Kong, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Jeongyoul Lee, Jongoh Kim, Gapheon Lee, "A Detection Method of Objects with Text in Drawings Based on Deep Learning", Proceedings of ISOPE 2023, Ottawa, Canada, 2023.06.19-23

  6. No Image 22Jan
    by SyDLab
    in International Conference

    In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "A Method for Automatic Berthing of a Ship Using LIDAR", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20

  7. No Image 19Sep
    by SyDLab
    in International Conference

    Min-Chul Kong, Myung-Il Roh, Jisang Ha, Mijin Kim, Jeoungyoun Kim, "A Method for the Generation of Optimal Patterns for Equipment Unit Modules in the Engine Room", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20

  8. No Image 23Oct
    by SyDLab
    in International Conference

    Yeong-min Jo, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Do-Hyun Chun, Min-chul Kong, "An Improved Method for the Sensor Fusion for Autonomous Ships", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20

  9. No Image 28Feb
    by SyDLab
    in International Conference

    Jisang Ha, Myung-Il Roh, Min-Chul Kong, Mijin Kim, Jeoungyoun Kim, Nam-Kug Ku, "An Automated Method for Pipe Routing in Ship Unit Modules", Proceedings of IMDC 2024, Amsterdam, Netherland, 2024.06.02-06

  10. No Image 28Feb
    by SyDLab
    in International Conference

    Min-Chul Kong, Myung-Il Roh, In-Chang Yeo, In-Su Han, Dongki Min, Dongguen Jeong, "Methods for Graph Conversion and Pattern Recognition for P&IDs", Proceedings of IMDC 2024, Amsterdam, Netherland, 2024.06.02-06

쓰기
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