Blar i NTNU Open på forfatter "Helgesen, Håkon Hagen"
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Automatic Dock-to-Dock Control System for Surface Vessels using Bumpless Transfer
Walmsness, Jens Emil; Helgesen, Håkon Hagen; Larsen, Stefan; Kufoalor, D. Kwame Minde; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)This paper proposes and demonstrates an automatic steering system designed for passenger ferries with dock-to-dock capabilities. The method consists of a modular control architecture and bumpless transfer transition ... -
Automatic steering system with dock-to-dock capability for passenger ferries
Walmsness, Jens Emil (Master thesis, 2022)Abstract will be available on 2025-06-06 -
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) -
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 ... -
Development of a machine vision based stabilization and positioning system for AUVs
Strandenes, Kevin (Master thesis, 2023)Denne masteroppgaven fokuserer på utviklingen av en robust algoritme for deteksjon og sporing av not ved hjelp av et autonomt undervannsfartøy (AUV). Algoritmen har som mål å overkomme begrensningene til eksisterende metoder ... -
Inertial Navigation aided by Ultra-Wideband Ranging for Ship Docking and Harbor Maneuvering
Helgesen, Håkon Hagen; Fuglestad, t; Cisek, Krzysztof Piotr; Vik, Bjørnar; Kjerstad, Øivind Kåre; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)This article presents an inertial navigation system aided by local ranging measurements derived from an ultra-wideband system. The system consists of one onboard tag and several onshore anchors. It is motivated by the need ... -
Localization for Ships and Ferries During Harbour Maneuvering and Docking
Ugelvik, Iver Andreas (Master thesis, 2022)Abstract will be available on 2025-06-06 -
Localization for Ships during Automated Docking using a Monocular Camera
Thiagarajah, Dinosshan; Helgesen, Håkon Hagen; Kjerstad, Øivind Kåre; Johansen, Tor Arne (Chapter, 2022)Automating docking operations of ships requires at least two robust and precise localization systems for reaching the typically required safety and redundancy levels. Global navigation satellite systems are typically chosen ... -
Localization of Ferries using Monocular Camera, IMU, and GNSS during Automated Docking
Thiagarajah, Dinosshan (Master thesis, 2021) -
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) -
Quay Contact Detection for Ships using Motion Sensors and Machine Learning
Helgesen, Håkon Hagen; Kristiansen, K S; Vik, Bjørnar; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)Detecting when and where contact with the quay appears is an important ability for ships undergoing a docking maneuver. The motion of the quay, environmental forces, and hydrodynamic effects caused by the interaction between ... -
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. ... -
Robust Autonomous Docking for Passenger Ferries
Larsen, Stefan (Master thesis, 2022)Abstract will be available on 2025-06-06