Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
| Autor: | Øystein Kaarstad Helgesen, Emil H. Thyri, Edmund Brekke, Annette Stahl, Morten Breivik |
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| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | Modeling, Identification and Control, Vol 44, Iss 2, Pp 55-68 (2023) |
| Druh dokumentu: | article |
| ISSN: | 0332-7353 1890-1328 |
| DOI: | 10.4173/mic.2023.2.2 |
| Popis: | 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 radars and lidars. Imaging sensors such as daylight cameras have recently become a popular addition to these sensor suites due to their low cost and high resolution. However, most tracking systems still rely exclusively on active sensors or a fusion of active and passive sensors. In this work, we present a complete collision avoidance system relying solely on camera tracking. The viability of this autonomous navigation system is verified through a real-world, closed-loop collision avoidance experiment with a single target in Trondheim, Norway in December 2022. Accurate tracking was established in all scenarios and the collision avoidance system took appropriate actions to avoid collisions. |
| Databáze: | Directory of Open Access Journals |
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