Ha-Yun Kim, Myung-Il Roh, Jisang Ha, In-Chang Yeo, Nam-Sun Son, "A Learning-based Method for Tracking Maritime Obstacles in Real-time", Proceedings of ISOPE 2024, Rhodos, Greece, 2024.06.16-21
| Abstract | In this study, we implemented learning-based and hybrid methodologies for maritime obstacle tracking leveraging RADAR (RAdio Detection And Ranging) data. The learning-based method employs a deep learning algorithm to predict the state of the obstacle. It is compared with the EKF-based method, which utilizes an extended Kalman filter extensively used in obstacle tracking. Moreover, we propose a hybrid method that combines the strengths of both the learning-based and EKF-based methods to compensate for their respective shortcomings. Experimental RADAR data from field tests were utilized for validation, illustrating that the hybrid method improves tracking accuracy compared to the EKF-based approach. |
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| Publication Date | 2024-06-17 |