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
| 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. |
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| Publication Date | 2022-09-13 |
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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
CategoryInternational Conference -
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Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Min-Jae Oh, Sejin Oh, "Estimation Model of Hydrodynamic Performance Using Hull Form Variation and Deep Learning", Proceedings of PRADS 2022, Dubrovnik, Croatia, pp. 82, 2022.10.09-13
CategoryInternational Conference -
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Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Method for Automatic Control of Cranes for Block Lifting in Shipyard", Proceedings of PRADS 2022, Dubrovnik, Croatia, pp. 64, 2022.10.09-13
CategoryInternational Conference -
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Dong-Guen Jeong, Myung-Il Roh, Ki-Su Kim, Jun-Sik Lee, Dae-Hyuk Kim, Wang-Seok Jang, "A Route Planning Method for Coastal Navigation of Small Ships", Proceedings of ICCAS 2022, Yokohama, Japan, pp. 153-156, 2022.09.13-15
CategoryInternational Conference -
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CategoryInternational Conference -
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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
CategoryInternational Conference -
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전도현, 노명일, 여인창, "LNG선 멤브레인 탱크의 최적 설계 방법", 2022년도 대한조선학회 춘계학술발표회, 제주, pp. 411, 2022.06.02-04
CategoryDomestic Conference -
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CategoryDomestic Conference -
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CategoryDomestic Conference -
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공민철, 노명일, 김기수, 김종오, 박호균, 김주성, "PDF 문서 내 변수 인식 및 가시화 프로그램 개발", 2022년도 대한조선학회 춘계학술발표회, 제주, p. 198, 2022.06.02-04
CategoryDomestic Conference