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| Abstract | With the decreasing availability of sailors, there has been an increasing focus on the development of autonomous ships. Among the various components of autonomous ships, automatic recognition systems that can replace human vision are a crucial area of research. While ongoing studies utilize traditional perception sensors such as RADAR (RAdio Detection And Ranging) and AIS (Automatic Identification System), they have limitations such as blind spots and a restricted detection range. To address these limitations, this paper proposes a new recognition method that utilizes multiple cameras, including Electro-Optical and Infrared cameras, to supplement traditional perception sensors. This method aims to detect maritime obstacles accurately and estimate their dynamic motion using a tracking process. Initially, real-sea images were collected for maritime obstacle detection, and a deep-learning-based detection model was trained on them. The detection results were then employed in an adaptive tracking filter, which allowed the precise motion estimation of the obstacles. Furthermore, to compensate for the limitations of using individual cameras as sensors, this study introduces the simultaneous fusion of tracked data from multiple cameras. This fusion process enhances tracking results in various ways. In field tests using multiple Unmanned Surface Vehicles (USVs), the proposed method successfully converged tracking results within the range of GPS errors. In addition, the fusion of tracked data from multiple cameras significantly improved the tracking results obtained from a single camera. |
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| Publication Date | 2024-07-14 |
| Role | Corresponding Author |
| Category | SCIE |
Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Yeong-Min Jo, Jisang Ha, Nam-Sun Son, "Multi-vessel Target Tracking with Camera Fusion for Unmanned Surface Vehicles", International Journal of Naval Architecture and Ocean Engineering, Vol. 16, 2024.07.14
https://doi.org/10.1016/j.ijnaoe.2024.100608
Ki-Su Kim, Myung-Il Roh, “Review of Ship Arrangement Design Using Optimization Methods”, accepted for publication in Journal of Computational Design and Engineering, 2024.12.07
Dong-Woo Kim, Myung-Il Roh, Do-Hyun Chun, Sun-Hong Woo, Yong-Tai Kim, “A Method for the Profile Optimization of the Primary Barrier of a Membrane-type LNG Tank Using Surrogate Modeling”, accepted for publication in Ocean Engineering, 2024.12.06
Ha-Yun Kim, Myung-Il Roh, Hye-Won Lee, In-Chang Yeo, Yeong-Min Jo, Jisang Ha, Nam-Sun Son, “A Hybrid Tracking Method for Maritime Obstacles Using Sensor Data”, Ocean Engineering, Vol. 312, Part 2, 2024.09.16
Jisang Ha, Myung-Il Roh, Hye-Won Lee, "Ship Route Planning for Collision Avoidance Based on the Improved Isochrone Method", International Journal of Naval Architecture and Ocean Engineering, 2024.08.14
Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Yeong-Min Jo, Jisang Ha, Nam-Sun Son, "Multi-vessel Target Tracking with Camera Fusion for Unmanned Surface Vehicles", International Journal of Naval Architecture and Ocean Engineering, Vol. 16, 2024.07.14
Min-Chul Kong, Myung-Il Roh, "A Method for Implementing a Ship Navigation Simulator for the Generation and Utilization of Virtual Data", International Journal of Naval Architecture and Ocean Engineering, 2024.06.25
Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, "Hull Form Optimization of Fully Parameterized Small Ships Using Characteristic Curves and Deep Neural Networks", International Journal of Naval Architecture and Ocean Engineering, 2024.05.08
Hyun-Soo Kim, Myung-Il Roh, “Interpretable, Data-driven Models for Predicting Shaft Power, Fuel Consumption, and Speed Considering the Effects of Hull Fouling and Weather Conditions”, IJNAOE, 2024.04.14
Donghun Yu, Myung-Il Roh, “Method for Anti-collision Path Planning Using Velocity Obstacle and A* Algorithms for a Maritime Autonomous Surface Ship”, International Journal of Naval Architecture and Ocean Engineering, Vol. 16, 2024.02.02
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "Method for Collision Avoidance Based on Deep Reinforcement Learning with Path-Speed Control for an Autonomous Ship", IJNAOE, Vol. 16, pp. 100579.1-19, 2023.12.22
Do-Hyun Chun, Myung-Il Roh, In-Chang Yeo, Hye-Won Lee, “Proposed Method for Design Optimization of LNG Tanks Based on the Arrangement of Thermal Insulation Panels”, Ocean Engineering, Vol. 288, Part 2, pp. 116063.1-14, 2023.11.15
Jisang Ha, Myung-Il Roh, Ki-Su Kim, Jin-Hyeok Kim, "Method for Pipe Routing Using the Expert System and the Heuristic Pathfinding Algorithm in Shipbuilding", International Journal of Naval Architecture and Ocean Engineering, 2023.05.26
In-Chang Yeo, Myung-Il Roh, Do-Hyun Chun, Seok Ho Jang, Jae Won Heo, "Optimal Arrangement Design of Pipeline Support by Considering Safety and Production Cost", International Journal of Naval Architecture and Ocean Engineering, 2023.05.10
Hye-Won Lee, Myung-Il Roh, Yeong-Min Cho, Jeong-Ho Park, "Data Association for Autonomous Ships Based on the Virtual Simulation Environment", Ocean Engineering, Vol. 281, pp. 114646.1-17, 2023.08.01
Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Ho-Gyun Park, Jong-Oh Kim, "Variable Indexing Method in Rule Documents for Ship Design Using Extraction of PDF Elements", Journal of Computational Design and Engineering, Vol. 9, No. 6, 2022.11.16
Jin-Hyeok Kim, Myung-Il Roh et al., "Prediction of the Superiority of the Hydrodynamic Performance of Hull Forms Using Deep Learning", International Journal of Naval Architecture and Ocean Engineering, Vol. 49, pp. 100490.1-15, pp. 2022.11.01
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Automation of Crane Control for Block Lifting Based on Deep Reinforcement Learning", Journal of Computational Design and Engineering, Vol. 9, No. 4, pp. 1430- 1448, 2022.07.23
Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Jeongyoul Lee, Jongoh Kim, Gapheon Lee, "Object Detection Method for Ship Safety Plans Using Deep Learning", Ocean Engineering, 2022.02.15
Ki-Su Kim, Myung-Il Roh, Seung-Min Lee, "Quasi-static Flooding Analysis Method of a Damaged Ship Considering Oil Spill and Cargo Load", Journal of Ship Production and Design, 2022.02.10
Won-Jae Lee, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Cho, Nam-Sun Son, “Detection and Tracking for the Awareness of Surroundings of a Ship Based on Deep Learning”, Journal of Computational Design and Engineering, Vol. 8, No. 5
