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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
40 International Conference Min-Jae Oh, Myung-Il Roh, Sung-Woo Park, Do-Hyun Chun, Jeong-Youl Lee, Myeong-Jo Son, "Operational Analysis of Container Ships Using AIS Data", Proceedings of ACDDE 2018, Okinawa, Japan, 2018.11.1-3 file 2018-11-01
39 International Conference Do-Hyun Chun, Myung-Il Roh, Seung-Ho Ham, Hoon-Kyu Oh, Sang-Ok Lee, "Optimum Layout Design of Wedges of Panel for an LNG Tank Considering Amount of Resin Ropes", Proeedings of ISOPE 2019, Honolulu, Hawaii, pp. 1289-1292, 2019.06.16-21 file 2019-06-19
38 International Conference Hye-Won Lee, Myung-Il Roh, Ki-Su Kim, Kuk-Jin Kang, Seong-Yeob Jung, "Arctic Sea Route Planning Based on POLARIS Rule", Proceedings of ISOPE 2019, Honolulu, Hawaii, pp. 875-877, 2019.06.16-21 file 2019-06-20
37 International Conference Jong-Hyeok Lee, Myung-Il Roh, Jin-Hyeok Kim, Sung-Jun Lee, Seung-Ho Ham, "Development of a Ship Navigation Simulator Based on Digital Twin Technology", Proceedings of ACDDE 2019, Penang, Malaysia, pp. 245, 2019.07.07-10 file 2019-07-08
36 International Conference Min-Jae Oh, Myung-Il Roh, Young-Soo Seok, and Sung-Jun Lee, "Optimization of a Ship Hull Form using Deep Learning", Proceedings of ACDDE 2019, Penang, Malaysia, 2019.07.07-10 file 2019-07-08
35 International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Crane Movement Control for Stability of Block Erection Based on Deep Reinforcement Learning", MIM 2019, Berlin, Germany, 2019.08.28-30 file 2019-08-28
34 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Control of the Underactuated Gantry Crane for the Block Erection Operation in the Shipyard", MIM 2019, Berlin, Germany, 2019.08.28-30 file 2019-08-29
33 International Conference Ki-Su Kim, Myung-Il Roh, "Optimal Arrangement Method of a Ship Considering the Performance against Flooding", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
32 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
31 International Conference Luman Zhao, Myung-Il Roh, Hye-Won Lee, Do-Hyun Chun, Sung-Jun Lee, "A Collision Avoidance Method of Multi-ships Based on Deep Reinforcement Learning Considering COLREGs," Proceedings of ICCAS 2019, Rotterdam, Netherlands, pp. 85-88, 2019.09.24-26 file 2019-09-24
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