Blar i NTNU Open på forfatter "Brekke, Edmund Førland"

Viser treff 21-40 av 114

    • Compensating radar rotation in target tracking 

      Hem, Audun Gullikstad; Brekke, Edmund Førland (Chapter, 2022)
      For applications where the vessel carrying the radar is highly maneuverable, or the radar rotation frequency is low, it may be unreasonable to approximate the radar measurements as arriving simultaneously. This paper ...

    • Compensation of navigation uncertainty for target tracking on a moving platform 

      Wilthil, Erik Falmår; Brekke, Edmund Førland (Proceedings of the 19th International Conference on Information Fusion, Institute of Electrical and Electronics Engineers (IEEE);, Chapter, 2016)
      Established state-of-the art methods for target tracking assume perfect knowledge of the sensor position and orientation. This assumption is violated when the tracking sensor is mounted on a moving platform such as a ship. ...

    • Constrained Posterior Cramér-Rao Bound for Discrete-Time Systems 

      Andersson, Leif Erik; Brekke, Edmund Førland; Imsland, Lars Struen; Scibilia, Francesco (Journal article, 2017)
      This article presents a Cramér-Rao lower bound for the discrete-time filtering problem under linear state constraints. A simple recursive algorithm is presented that extends the computation of the Cramér-Rao lower bound ...

    • Cooperative Remote Sensing of Ice using a Spatially Indexed Labeled Multi-Bernoulli Filter 

      Olofsson, Jonatan; Brekke, Edmund Førland; Johansen, Tor Arne (Chapter, 2017)
      In polar region operations, drift ice positioning and tracking is useful for both scientific and safety reasons. Many sensors can be employed to generate detections of sea ice, such as satellite-carried Synthetic Aperture ...

    • Data Association and Simultaneous Localization and Mapping for an Autonomous Racecar 

      Omvik, Per Kvinnesland (Master thesis, 2020)
      Autonom racing er et ganske nytt tilskudd til emnene robotikk og autonom mobilitet. Konseptet ble startet av Formula Student (FS)-konkurransene, og er en utfordring som studentlag over hele verden bryner seg på. Ettersom ...

    • Depth Estimation and Object Detection using Stereo Vision for Autonomous Ferry 

      Auestad, Kristian (Master thesis, 2021)
      I denne avhandlingen evaluerers flere methoder for løsing av korrespondanseproblemet og objektdeteksjon ved bruk av stereokamera. For løsing av korrespondanseproblemet ble den lokale metoden Sum of Absolute Differences og ...

    • Development and Testing of Navigation and Motion Control Systems for milliAmpere 

      Sæther, Brage (Master thesis, 2019)
      Marine fartøy som opererer i trange omgivelser krever et robust og nøyaktig navigasjonssystem og kontrollsystem. Denne oppgaven presenterer nye implementasjoner av navigasjonssystem og kontrollsystem i detalj. Implementasjonene ...

    • Development of a Dynamic Positioning System for the ReVolt Model Ship 

      Alfheim, Henrik Lemcke; Muggerud, Kjetil; Breivik, Morten; Brekke, Edmund Førland; Eide, Egil; Engelhardtsen, Øystein (Journal article; Peer reviewed, 2018)
      A Dynamic Positioning (DP) control system is developed, implemented and tested for a scale model of DNV GL’s concept ship ReVolt. This model-scale ship is used as a test platform for sensors and control systems used in ...

    • Development of a Dynamic Positioning System for the ReVolt Model Ship 

      Alfheim, Henrik; Muggerud, Kjetil (Master thesis, 2017)
      Autonomous surface vehicles are still in the early stages of development, and show great potential. These vessels can be used in different scientific and commercial operations, outperforming manned vessels in safety, ...

    • Direct Methods for Detecting and Tracking Objects from Visual Images from Moving Cameras in a Marine Environment 

      Lauvrak, Jon Magnus Mathisen; Moe, Erik Daniel Haukås (Master thesis, 2023)
      Denne avhandlingen undersøker bruken av optisk flyt for objektdeteksjon og posisjonsestimering innenfor konteksten av omgivelsene til den autonome fergen milliAmpere 1. Nåværende metoder for posisjonsestimering er ofte ...

    • Direct Methods for Detecting and Tracking Objects from Visual Images from Moving Cameras in a Marine Environment 

      Lauvrak, Jon Magnus Mathisen; Moe, Erik Daniel Haukås (Master thesis, 2023)
      Denne avhandlingen undersøker bruken av optisk flyt for objektdeteksjon og posisjonsestimering innenfor konteksten av omgivelsene til den autonome fergen milliAmpere 1. Nåværende metoder for posisjonsestimering er ofte ...

    • Dokking av AUV ved bruk av feiltilstands-kalmanfilter 

      Herje, Kristine Elisabeth Aas (Master thesis, 2017)
      Det er et økende behov for algoritmer for dokking av AUVer. Det som finnes i litteraturen i dag er løsninger på konkrete problemer, noe som gjør dem mer komplisert enn dokkingproblemet i seg selv. Denne oppgaven gjør et ...

    • Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework 

      Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland (Chapter, 2019)
      Abstract—The detection probability of maritime vessels may change over time, either slowly or more abruptly, due to effects such as sea state and varying aspect angle. If the varying detectability is not accounted for in ...

    • Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries 

      Helgesen, Øystein Kaarstad; Thyri, Emil Hjelseth; Brekke, Edmund Førland; Stahl, Annette; Breivik, Morten (Peer reviewed; Journal article, 2023)
      Abstract: Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors ...

    • Extended target PMBM tracker with a Gaussian Process target model on LiDAR data 

      Baerveldt, Martin Lukas; Lopez, Michael Ernesto; Brekke, Edmund Førland (Chapter, 2023)
      In Multiple Extended Object Tracking, the PMBM (Poisson Multi-Bernoulli Mixture) tracker is considered state-of-the-art. Originally, it was presented with the GGIW (Gamma Gaussian Inverse Wishart) target model, which is a ...

    • Fiducial SLAM For Autonomous Ferry 

      Gerhardsen, Martin Eek (Master thesis, 2021)
      Tradisjonelt sett er Global Navigation Satellite System (GNSS) benyttet for å finne den globale posisjonen til et kjøretøy. GNSS målinger innhentes ofte ved hjelp av én eller to antenner som kommuniserer med satelitter. ...

    • Fusion between camera and lidar for autonomous surface vehicles 

      Kamsvåg, Vegard (Master thesis, 2018)
      The development of autonomous surface vessels (ASVs) has seen great progress in the last few years, and are on the verge of becoming a reality. Sensing the environment in a reliable way is a key element in making a ship ...

    • Fusion of Inertial Navigation and Visual Odometry by Multi-State Constraint Kalman Filter 

      Legernæs, Eirik Worren (Master thesis, 2017)
      The Multi-State Constraint Kalman Filter for visual-inertial odometry with online estimation of extrinsic and intrinsic camera parameters using the fisheye camera model is presented, and its performance in terms of accuracy ...

    • Gaussian Processes for long-term trajectory prediction using historical AIS data 

      Mellbye, Håvard Skåra (Master thesis, 2021)
      For at autonome overflate-fartøyer (ASVer) skal kunne operere trygt er det essensielt med robuste antikollisjonssystemer. Slike systemer innebærer ikke bare at et fartøy må kunne reagere i det det oppstår farlige situasjoner, ...

    • Globally Stable Velocity Estimation Using Normalized Velocity Measurement 

      Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Delaune, Jeff; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      The problem of estimating velocity from a monocular camera and calibrated inertial measurement unit (IMU) measurements is revisited. For the presented setup, it is assumed that normalized velocity measurements are available ...