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
International Journal
2024.09.10 04:13
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
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| Abstract | Safe navigation of ships depends on the accurate recognition and tracking of nearby maritime obstacles as detected by various sensors. Challenges arise in tracking maritime obstacles from sensor data because of sensor noise and incomplete sensor data. Traditionally, tracking algorithms such as the EKF (Extended Kalman Filter) have been applied to track the state of maritime obstacles, including the position, COG (Course Over Ground), and SOG (Speed Over Ground). This study implemented a combined EKF- and learning-based (hybrid) tracking method. In the EKF-based method, the parameters are related to the uncertainty of the system and the sensor data. These parameters are generally set manually by analyzing the noise of the sensor data and may not be optimal; we optimized the parameters to compensate for this. In the learning-based method, we trained a deep learning model using a DNN (Deep Neural Network) to predict obstacle states from sensor measurement data. We then propose a hybrid tracking method that combines the two tracking methods to compensate for the shortcomings of each method. We verified these three tracking methods using navigation data obtained through field tests. The verification results showed that the learning-based tracking method improved the SOG tracking accuracy by 11.47% compared with the traditional EKF-based tracking method. The tracking accuracy of the hybrid tracking method was reduced by 22.42% for the COG and 42.05% for the SOG. These results indicate that the hybrid tracking method effectively compensates for the limitations of the other methods, resulting in an enhanced tracking performance. |
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| Publication Date | 2024-09-16 |
| Role | Corresponding Author |
| Category | SCI |
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Hyun Soo Kim, Myung-Il Roh, "Data-driven Model for Predicting Tank Pressure of an LNG Carrier Considering Environmental Effects", International Journal of Naval Architecture and Ocean Engineering, Vo.l. 18, 2026.01.01
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In-Chang Yeo, Myung-Il Roh, Yun-Sik Kim, Ha-Yun Kim, Do-Hyeok Ahn, Nam-Sun Son, "A Localization Method of Nearby Ships Based on 3D Object Detection Using a Camera", International Journal of Naval Architecture and Ocean Engineering, 2025.11.12
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Seong-Won Choi, Myung-Il Roh, In-Chang Yeo, Won-Chul Yoo, Seon-Do Han, "A Route Planning Method for Small Ships Based on Historical AIS Data", Ocean Engineering, Vol. 343, Part 3, 123372, 2026.01.15
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In-Su Han, Myung-Il Roh, Min-Chul Kong, “An Automated Method for Converting P&IDs in Shipbuilding to Structured Graphs”, International Journal of Naval Architecture and Ocean Engineering, Vol. 17, pp. 100696.1-20, 2025.10.04
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In-Chang Yeo, Myung-Il Roh, Dong-Guen Jeong, Jun-Sik Lee, "A Route Planning Method for Small Ships Inside the Marina", International Journal of Naval Architecture and Ocean Engineering, Vol. 17, pp. 100684.1-16, 2025.08.13
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Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, “An MLP (Multi-Layer Perceptron)-Based Method for Optimizing Multiple Hull Forms at Once Using Surrogate Modeling with Geometric Moments”, Ocean Engineering, Vol. 339, Part 1, 2025.11.15
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Yun-Sik Kim, Myung-Il Roh, Ha-Yun Kim, In-Chang Yeo, "An Improved Method of Detecting the Horizon for Tracking Maritime Obstacles", Ocean Systems Engineering, Vol. 15, No. 2, pp. 219-239, 2025.06.30
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In-Su Han, Myung-Il Roh, Min-Chul Kong, Seoyoon Park, Jeongyoul Lee, "Search Method for Ship Regulations Based on Semantic Similarity Using Natural Language Processing", Ships and Offshore Structures, 2025.05.12
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Min-Chul Kong, Myung-Il Roh, In-Su Han, ..., "A Representation Method of Pipe Connections and Routing Space in Pipe Auto-routing Using Graph and Octree Structures", Ocean Engineering, Vol. 329, 121204, pp. 1-18, 2025.06.15
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Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, “A Method for Generating Multiple Hull Forms at Once Using MLP (Multi-Layer Perceptron)”, Ocean Engineering, Vol. 324, pp. 120659.1-20, 2025.04.30
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Dong-Guen Jeong, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Jun-Sik Lee, “A Route Planning Method for Small Ships in Coastal Areas Based on Quadtree”, IJNAOE, Vol. 17, pp. 100647.1-17, 2025.02.03
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Ki-Su Kim, Myung-Il Roh, “Review of Ship Arrangement Design Using Optimization Methods”, Journal of Computational Design and Engineering, Vol. 12, No. 1, pp. 100-121, 2025.01.31
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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”, Ocean Engineering, Vol. 317, 2025.02.01
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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
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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, 2024.08.16
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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
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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
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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
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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
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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
