DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, Jungwook | ko |
dc.contributor.author | Son, Nam-sun | ko |
dc.contributor.author | Kim, Jinwhan | ko |
dc.date.accessioned | 2021-01-28T06:12:30Z | - |
dc.date.available | 2021-01-28T06:12:30Z | - |
dc.date.created | 2020-12-07 | - |
dc.date.issued | 2019-11-12 | - |
dc.identifier.citation | SPIE Future Sensing Technologies 2019 | - |
dc.identifier.uri | http://hdl.handle.net/10203/280210 | - |
dc.description.abstract | This paper presents the automatic target detection and tracking of marine obstacles for unmanned surface vehicles (USVs). For practical applications with a USV, the automatic detection of surrounding obstacles is a crucial capability, and marine radars have been commonly used to detect and estimate the motion of obstacles. However, their tracking performance degrades when a target is approaching at a high relative velocity due to their relatively low sampling rate. This study addresses the automatic target tracking of marine obstacles by considering time-delayed measurements provided by a marine radar. The relative position information between a USV and nearby obstacles is obtained using the radar sensor, and the obstacles' motion including position, course, and speed is estimated using an extended Kalman filter (EKF)-based tracking filter by compensating the measurement delay. To validate the feasibility of the proposed method, a real-sea experiment was conducted using a USV and the results are presented. | - |
dc.language | English | - |
dc.publisher | SPIE Future Sensing Technologies | - |
dc.title | Automatic target tracking with time-delayed measurements for unmanned surface vehicles | - |
dc.type | Conference | - |
dc.identifier.wosid | 000526177400037 | - |
dc.identifier.scopusid | 2-s2.0-85078139822 | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | SPIE Future Sensing Technologies 2019 | - |
dc.identifier.conferencecountry | JA | - |
dc.identifier.conferencelocation | Tokyo | - |
dc.identifier.doi | 10.1117/12.2547429 | - |
dc.contributor.localauthor | Kim, Jinwhan | - |
dc.contributor.nonIdAuthor | Han, Jungwook | - |
dc.contributor.nonIdAuthor | Son, Nam-sun | - |
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