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Abstract Autonomous ships require an awareness system to recognize surrounding obstacles during navigation. In general, the awareness system uses data obtained by sensors such as RADAR (RAdio Detection And Ranging) and AIS (Automatic Identification System). However, autonomous ships operating in the marine environment should recognize small obstacles, including buoys that cannot be detected by RADAR and boats without the AIS system. Just as the tracking accuracy is improved by the fusion of sensors with different characteristics, a camera with a wide-angle of view or a camera capable of night detection can complement each other. In addition, tracking accuracy can be further improved if camera images from multiple viewpoints can be used in the case of detection through multiple ships. Therefore, in this study, camera-based detection and tracking methods were developed to be aware of marine obstacles that could not be recognized by RADAR or AIS. Firstly, the Convolutional Neural Network (CNN) based YOLO v5 model, combined with an attention module, was suggested for obstacle detection. Subsequently, the position and speed of the detected obstacles were tracked using the extended Kalman Filter. Finally, the tracks of the obstacles from various cameras mounted on multiple ships were integrated using the sensor fusion method to increase the accuracy. The field tests were conducted with a USV (Unmanned Surface Vessel) for various ship encountering scenarios to verify the developed methods in the actual marine environment. As a result, it was confirmed that stable and accurate detection and tracking of marine obstacles was performed using multiple cameras.
Publication Date 2022-04-28

Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Detection and Tracking Methods of Maritime Obstacles Using Multiple Cameras", Proceedings of ICDM(International Conference on Decarbonization and Digitalization in Marine Engineering) 2022, Siheung, Korea, 2022.04.28-29


List of Articles
번호 분류 제목 Publication Date
120 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Bo-Woo Nam, "Coupled Analysis of the LNG Offloading Operation Based on Multibody Dynamics", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 file 2022-10-09
119 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Do-Hyun Chun, "Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
118 International Conference Hye-Won Lee, Seung-Ho Ham, Jeong-Woo Hong, Sol Ha, Myung-Il Roh, "Motion Analysis of a Heavy Load Suspended by a Floating Crane Using Constraint-based Wire Rope based on Discrete Variational Method", Proceedings of the 28th Asian-Pacific TEAM 2014 file 2014-10-15
117 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 2022-11-06
116 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 file 2023-10-19
» International Conference Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Detection and Tracking Methods of Maritime Obstacles Using Multiple Cameras", Proceedings of ICDM 2022, Siheung, Korea, 2022.04.28-29 2022-04-28
114 International Conference 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 2022, Yokohama, Japan, 2022.09.13-15 2022-09-13
113 International Conference Jeong-Woo Hong, Seung-Ho Ham, Luman Zhao, Xing Li, Sol Ha, Myung-Il Roh, "Offshore Installation of Subsea Equipment Considering Elasticity of the Crane Boom in Harsh Environment", Proceedings of ISOPE 2015, Hawaii, USA, 2014.06.21-26 file 2015-06-23
112 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
111 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
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