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dc.contributor.authorHelgesen, Øystein Kaarstad
dc.contributor.authorBrekke, Edmund Førland
dc.contributor.authorHelgesen, Håkon Hagen
dc.contributor.authorEngelhardtsen, Øystein
dc.date.accessioned2020-04-17T09:53:50Z
dc.date.available2020-04-17T09:53:50Z
dc.date.created2020-01-20T10:48:50Z
dc.date.issued2019
dc.identifier.isbn0000000000000
dc.identifier.urihttps://hdl.handle.net/11250/2651487
dc.description.abstractSafe 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 system for tracking in a maritime environment using lidar, radar, electrooptical and infrared cameras. The backbone of the system is a multi-sensor version of the Joint Integrated Probabilistic Data Association (JIPDA) with both existence and visibility probabilities. Using reference targets equipped with GPS receivers, the performance of different sensors and sensor combinations are evaluated for autonomous surface vehicles (ASVs), Several interesting observations are made, among them that passive sensors can help resolve merged measurements issues in radar tracking, and that the choice between radar and lidar may boil down to a trade-off between fast track initiation and large numbers of false tracks.en_US
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.ispartof22nd international conference on information fusion (FUSION)
dc.titleSensor Combinations in Heterogeneous Multi-sensor Fusion for Maritime Target Trackingen_US
dc.typeChapteren_US
dc.description.versionacceptedVersionen_US
dc.identifier.cristin1777352
dc.relation.projectNorges forskningsråd: 244116en_US
dc.relation.projectNorges forskningsråd: 223254en_US
dc.description.localcode© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedfalse
cristin.fulltextpostprint


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