Blar i NTNU Open på forfatter "Helgesen, Øystein Kaarstad"
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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 ... -
Domain Adaptation for Detection of Maritime Vessels in Images
Landsnes, Kristoffer (Master thesis, 2021)Deteksjon av objekter er imperativt for situasjonsforståelse i autonome systemer og bidrar til trygg og kontrollert autonom navigasjon. I maritime miljøer er kamerabaserte detektorer et av de viktigste systemene som gir ... -
Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
Helgesen, Øystein Kaarstad; Thyri, E.H.; Brekke, Edmund Førland; Stahl, Annette; Breivik, Morten (Peer reviewed; Journal article, 2023)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 such as ... -
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 ... -
Heterogeneous multi-sensor tracking for an autonomous surface vehicle in a littoral environment
Helgesen, Øystein Kaarstad; Vasstein, Kjetil; Brekke, Edmund Førland; Stahl, Annette (Peer reviewed; Journal article, 2022)Sensor fusion plays a key part in autonomous surface vehicles, however, the high cost of sensors makes the barrier of entry in this research field quite high. In this work, we present a complete system for sensor fusion ... -
Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking
Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein (Peer reviewed; Journal article, 2020)This paper presents a method for georeferencing low-altitude camera sensors, both infrared and electro-optical, in a maritime context. Accurate georeferencing require very high precision for the object pixel coordinates ... -
Maritime object detection using infrared cameras
Hølland, Eskil Hatling (Master thesis, 2019)Autonom transport blir stadig mer tilgjengelig, både landbasert, luftbasert og til havs. Urbane vannveier er på den andre siden underutnyttet i dagens byer. Den vanlige måten å krysse en kanal er enten via bro eller en ... -
Maritime Tracking with Georeferenced Multi-Camera Fusion
Helgesen, Øystein Kaarstad; Stahl, Annette; Brekke, Edmund Førland (Peer reviewed; Journal article, 2023)Cameras form an essential part of any autonomous surface vehicle’s sensor package, both for COLREGs compliance to detect light signals and for identifying and tracking other vessels. Due to limited fields of view compared ... -
milliAmpere: An Autonomous Ferry Prototype
Brekke, Edmund Førland; Eide, Egil; Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Breivik, Morten; Skjellaug, Even; Helgesen, Øystein Kaarstad; Lekkas, Anastasios M.; Martinsen, Andreas Bell; Thyri, Emil Hjelseth; Torben, Tobias Valentin Rye; Veitch, Erik Aleksander; Alsos, Ole Andreas; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)In this paper, we summarize the experiences with the autonomous passenger ferry development prototype milliAmpere, which has been used as a test platform in several research projects at the Norwegian University of Science ... -
Multi-Sensor Tracking for Autonomous Surface Vehicles
Helgesen, Øystein Kaarstad (Doctoral theses at NTNU;2023:84, Doctoral thesis, 2023)Maritime autonomy is rapidly gaining interest both in academic and industrial circles. Safe navigation for autonomous surface vehicles requires a robust and reliable tracking system that maintains and estimates the positions ... -
Sensor Combinations in Heterogeneous Multi-sensor Fusion for Maritime Target Tracking
Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Helgesen, Håkon Hagen; Engelhardtsen, Øystein (Chapter, 2019)Safe navigation for autonomous surface vehicles requires a robust and reliable tracking system that maintains and estimates position and velocity of other vessels. This paper demonstrates a measurement level sensor fusion ... -
Stereo vision for autonomous ferry
Olsen, Trine Ødegård; Theimann, Lina Charlotte Kristoffersen (Master thesis, 2020)Denne oppgaven diskuterer stereosyn for å detetktere objekter på lange distanser, kalibrering og system implementasjon for et førerløst fartøy. Oppsettet innehar en interaksiell avstand på 1.80 meter mellom kameraene for ... -
Stereo vision for autonomous ferry
Theimann, Lina Charlotte Kristoffersen; Olsen, Trine Ødegård (Master thesis, 2020)Denne oppgaven diskuterer stereosyn for å detetktere objekter på lange distanser, kalibrering og system implementasjon for et førerløst fartøy. Oppsettet innehar en interaksiell avstand på 1.80 meter mellom kameraene for ... -
The Autosea project: Developing closed-loop target tracking and collision avoidance systems
Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)Autonomous surface vehicles and maritime autonomous surface ships must rely on sense-and-avoid systems for navigating safely among other ships. The main objective of this paper is to present examples of such systems, and ... -
Unsupervised RGB-to-Infrared Image Translation with Generative Models
Øie, Andreas (Master thesis, 2023)Denne masteroppgaven undersøker anvendelsen av uparede bilde-til-bilde oversettelsesteknikker og generative modeller for å generere syntetiske data for å forbedre milliAmpere 2's autonome systemer. Arbeidet fokuserer ...