dc.contributor.author | Helgesen, Øystein Kaarstad | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.contributor.author | Helgesen, Håkon Hagen | |
dc.contributor.author | Engelhardtsen, Øystein | |
dc.date.accessioned | 2020-04-17T09:53:50Z | |
dc.date.available | 2020-04-17T09:53:50Z | |
dc.date.created | 2020-01-20T10:48:50Z | |
dc.date.issued | 2019 | |
dc.identifier.isbn | 0000000000000 | |
dc.identifier.uri | https://hdl.handle.net/11250/2651487 | |
dc.description.abstract | 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 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.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.ispartof | 22nd international conference on information fusion (FUSION) | |
dc.title | Sensor Combinations in Heterogeneous Multi-sensor Fusion for Maritime Target Tracking | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.identifier.cristin | 1777352 | |
dc.relation.project | Norges forskningsråd: 244116 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_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.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | false | |
cristin.fulltext | postprint | |