Comparison of Multi-Sensor Fusion Methods for Maritime Target Object Tracking 해상 장애물 추적을 위한 다중센서 융합 방법에 따른 성능비교

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Automatic target tracking of surrounding surface vessels is important to safely operate a maritime autonomous surface ship (MASS). To accurately and reliably estimate the target state in marine environments, designers have fused various navigation sensors, including radar, lidar, and cameras. This study compares how well several sensor fusion methods perform for target motion analysis (TMA) tracking. Although the ideal approach is to combine all of the sensor outputs into a single integrated fusion-based tracking filter, this approach is not always preferred in practice due to difficulties in tuning filter parameters, challenges of data association between different sensors, and a large computational effort that cannot be easily distributed. In this paper, we focus on track fusion approaches that combine tracking results from a local tracking filter using individual sensor observations. We compare the sensor fusion methods using a Monte-Carlo simulation and discuss the results.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2019-06
Language
Korean
Article Type
Article
Citation

Journal of Institute of Control, Robotics and Systems, v.25, no.6, pp.551 - 556

ISSN
1976-5622
DOI
10.5302/J.ICROS.2019.19.0055
URI
http://hdl.handle.net/10203/263091
Appears in Collection
ME-Journal Papers(저널논문)
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