Browsing NTNU Open by Author "Helgesen, Håkon Hagen"

Now showing items 1-15 of 15

    • Autonomous ballistic airdrop of objects from a small fixed-wing unmanned aerial vehicle 

      Mathisen, Siri Gulaker; Leira, Frederik Stendahl; Helgesen, Håkon Hagen; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)
      Autonomous airdrop is a useful basic operation for a fixed-wing unmanned aerial system. Being able to deliver an object to a known target position extends operational range without risking human lives, but is still limited ...

    • Colored-Noise Tracking of Floating Objects using UAVs with Thermal Cameras 

      Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Johansen, Tor Arne (Chapter, 2019)
      Tracking of floating objects using a fixed-wing UAV equipped with a thermal camera requires precise knowledge about the position and attitude of the UAV. Errors in the navigation estimates reduce the accuracy of the tracking ...

    • Contact detection for autonomous boats using machine learning 

      Kristiansen, Kjetil Sekse (Master thesis, 2021)
      En viktig egenskap for et autonomt system på skip er å ha egenskapen til å legge til kai trygt uavhengig av strukturen til kaien. For større fartøy involverer dette ofte en myk kollisjon med kai før fartøyet blir sikret ...

    • Detection and Trcking of Floating Objects using UAVs with Optical Sensors 

      Helgesen, Håkon Hagen (Doctoral theses at NTNU;2019:373, Doctoral thesis, 2019)
      This thesis focuses on detection and tracking of floating objects using fixed-wing unmanned aerial vehicles (UAVs) equipped with a monocular thermal camera. UAVs with optical sensors are useful in a vast number of applications ...

    • Localization of Ferries using Monocular Camera, IMU, and GNSS during Automated Docking 

      Thiagarajah, Dinosshan (Master thesis, 2021)
      Dokking er en viktig manøver som må utføres av autonome overvannskjøretøyer og dette krever en presis lokaliseringsmetode. Videre krever dokking i områder med begrenset satellittbasert navigasjon en robust lokaliseringsmetode ...

    • 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 ...

    • Model validation and berthing of an autonomous ferry 

      Knudsen, Simen Krantz (Master thesis, 2021)
      Det blir stadig mer forskning på ubemannede overflatefartøy, med et økt fokus på dokking-operasjoner. Denne avhandlingen ønsker å bidra til denne forskningen ved å presentere en ny metode for dokking. milliAmpere-ferjen ...

    • Object Detection and Tracking Based on Optical Flow in Unmanned Aerial Vehicles 

      Helgesen, Håkon Hagen (Master thesis, 2015)
      In recent years the Unmanned Aerial Vehicle (UAV) community has discovered the enormous amount of information that can be extracted from a video camera. It can be used for collision avoidance, navigation, velocity estimation, ...

    • Object Detection in Maritime Environments 

      Grini, Simen Viken (Master thesis, 2019)
      Maskinlæringsmetoder basert pa konvolusjonelle nevrale nettverk (CNNs) har i senere år tatt over som den dominerende teknikken innenfor objektdeteksjon. Store forskningsressurser blir brukt på å utvikle dette feltet videre, ...

    • Object Detection, Recognition and Tracking from UAVs using a Thermal Camera 

      Leira, Frederik Stendahl; Helgesen, Håkon Hagen; Johansen, Tor Arne; Fossen, Thor I. (Peer reviewed; Journal article, 2020)
      In this paper a multiple object detection, recognition, and tracking system for unmanned aerial vehicles (UAVs) has been studied. The system can be implemented on any UAVs platform, with the main requirement being that the ...

    • Positioning and Sensor Fusion for Docking of Autonomous Ships 

      Fuglestad, Torbjørn (Master thesis, 2021)
      Denne oppgåva studerer bruk av ultra-breidbandteknologi (UWB) til presis es- timering av posisjon og orientering for skip som skal legge til kai. Manøvrane som må utførast for å legge til kai er utfordrande fordi dei vert ...

    • Real-time Georeferencing of Thermal Images using Small Fixed-Wing UAVs in Maritime Environments 

      Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Bryne, Torleiv Håland; Albrektsen, Sigurd Mørkved; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      This article considers real-time georeferencing using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera. A flexible system for direct georeferencing is proposed without the need for ground reference points. ...

    • 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 ...

    • Tracking of Ocean Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera 

      Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Fossen, Thor I.; Johansen, Tor Arne (Journal article, 2017)
      This paper presents four vision-based tracking system architectures for marine surface objects using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera mounted in a pan/tilt gimbal. The tracking systems ...

    • Visual Detection of Maritime Vessels 

      Tangstad, Espen Johansen (Master thesis, 2017)
      This thesis investigates how a tailored Convolutional Neural Network (CNN) can aid autonomous surface vehicles (ASVs) in detecting and classifying maritime traffic for collision avoidance. Several state of the art CNN ...