Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
Helgesen, Øystein Kaarstad; Thyri, Emil Hjelseth; Brekke, Edmund Førland; Stahl, Annette; Breivik, Morten
Peer reviewed, Journal article
Published version
Permanent lenke
https://hdl.handle.net/11250/3111246Utgivelsesdato
2023Metadata
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Originalversjon
MIC Journal: Modeling, Identification and Control. 2023, 44 (2), 55-68. 10.4173/mic.2023.2.2Sammendrag
Abstract: 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.