Skip to content
Extra Form
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
458 Domestic Conference 임중현, 이상욱, 노명일, 이규열, "다면체를 이용한 선박 구획 계산에 관한 연구", 1999년도 대한조선학회 춘계학술발표회, 거제, pp. 103-106, 1999.04.22-23 file 1999-04-22
457 Domestic Conference 노명일, 이규열, "협동 최적화 방법에 의한 다분야 최적화 기법에 관한 연구", 1999년도 대한조선학회 추계학술발표회, 대전, pp. 159-164, 1999.11.11-12 file 1999-11-11
456 Domestic Conference 노명일, 이규열, "협동 최적화 접근방법에 의한 다분야 최적 설계에 관한 연구", 2000년도 한국CAD/CAM학회 학술발표회, 서울, pp. 163-170, 2000.02.11 file 2000-02-11
455 International Conference Kyu-Yeul Lee, Seon-Ho Cho, Myung-Il Roh, "An Efficient Global-Local Hybrid Optimization Method Using Design Sensitivity Analysis", Proceedings of OptiCon 2000, Newport Beach, USA, pp. 1-13, 2000.10.26-27 file 2000-10-26
454 Domestic Conference 한성남, 이규열, 노명일, "개선된 유전자 알고리즘을 이용한 최적 공간 배치 설계에 관한 연구", 2001년도 한국CAD/CAM학회 학술발표회, 서울, pp. 253-260, 2001.02.09 file 2001-02-09
453 Domestic Conference 이규열, 노명일, "Hybrid Optimization 방법과 CORBA를 이용한 다분야 최적 설계에 관한 연구", 2001년도 한국항공우주학회 학술발표회, 진주, pp. 590-593, 2001.04.14 file 2001-04-14
452 Domestic Conference 한성남, 노명일, 이규열, "최적 공간 배치 설계를 위한 개선된 유전자 알고리즘에 관한 연구", 2001년도 한국경영과학회/대한산업공학회 춘계학술발표회, 양양, pp. 239, 2001.04.27-28 file 2001-04-27
451 International Conference Kyu-Yeul Lee, Myung-Il Roh, Hang-Soon Choi, Woo-Jae Seong, "Development of Hybrid Optimization Method and Its Application to Ship Design Optimization", Proceedings of Pacific 2002 International Maritime Conference, Sydney, Australia, 2002.01.29-31 file 2002-01-29
450 Domestic Conference 이원준, 이규열, 권오환, 노명일, "의미론적 제품 데이터 모델 기반 초기 선체 구조 CAD 시스템 개발", 2002년도 한국CAD/CAM학회 학술발표회, 서울, pp. 75-87, 2002.01.30 file 2002-01-30
449 Domestic Conference 정혁수, 이규열, 노명일, "다중 갑판을 고려한 함정의 최적 격실 배치 설계에 관한 연구", 2002년도 대한조선학회 춘계학술발표회, 부산, pp. 71-78, 2002.04.18-19 file 2002-04-18
Board Pagination Prev 1 2 3 4 5 6 7 8 9 10 ... 46 Next
/ 46

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