Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Track Initiation and Target Tracking Filter Using LiDAR for Ship Tracking in Marine Environment

해양환경에서 선박 추적을 위한 라이다를 이용한 궤적 초기화 및 표적 추적 필터

  • Fang, Tae Hyun (Maritime Safety Research Division, Korea Research Institute of Ships & Ocean Engineering) ;
  • Han, Jungwook (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Son, Nam-Sun (Maritime Safety Research Division, Korea Research Institute of Ships & Ocean Engineering) ;
  • Kim, Sun Young (Maritime Safety Research Division, Korea Research Institute of Ships & Ocean Engineering)
  • 황태현 (선박해양플랜트연구소 해양안전연구부) ;
  • 한정욱 (한국과학기술원 기계공학과) ;
  • 손남선 (선박해양플랜트연구소 해양안전연구부) ;
  • 김선영 (선박해양플랜트연구소 해양안전연구부)
  • Received : 2015.10.13
  • Accepted : 2015.12.17
  • Published : 2016.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes the track initiation and target-tracking filter for ship tracking in a marine environment by using Light Detection And Ranging (LiDAR). LiDAR with three-dimensional scanning capability is more useful for target tracking in the short to medium range compared to RADAR. LiDAR has rotating multi-beams that return point clouds reflected from targets. Through preprocessing the cluster of the point cloud, the center point can be obtained from the cloud. Target tracking is carried out by using the center points of targets. The track of the target is initiated by investigating the normalized distance between the center points and connecting the points. The regular track obtained from the track initiation can be maintained by the target-tracking filter, which is commonly used in radar target tracking. The target-tracking filter is constructed to track a maneuvering target in a cluttered environment. The target-tracking algorithm including track initiation is experimentally evaluated in a sea-trial test with several boats.

Keywords

References

  1. S. S. Blackman, Multiple-Target Tracking with Radar Applications, Artech House, 1986.
  2. Y. Bar-Shalom, Multitarget-Multisensor Tracking: Applications and Advances, vol. 2, Artech House, 1992.
  3. www.velodynelidar.com
  4. J. Levinson, J. Askeland, J. Becker, J. Dolson, D. Held, S. Kammel, J. Z. Kolter, D. Langer, O. Pink, V. Pratt, M. Sokolsky, G. Stanek, D. Stavens, A. Teichman, M. Werling, and S. Thrun, "Towards fully autonomous driving: Systems and algorithms," Proc. of IEEE Intelligent Vehicles Symposium (IV), pp. 163-168, 2011.
  5. A. Teichman, J. Levinson, and S. Thrun, "Towards 3D object recognition via classification of arbitrary object tracks," Proceedings of IEEE International Conference on Robotics and Automation, pp. 4034-4041, 2011.
  6. K.-I. Lim, J.-S. Oh, J.-U. Lee1, and J.-H. Kim, "Development of an intelligent cruise control using path planning based on a geographic information system," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 21, no. 3, pp. 217-223, 2015. https://doi.org/10.5302/J.ICROS.2015.14.9014
  7. R. Halterman and M. Bruch, "Velodyne HDL-64E LIDAR for unmanned surface vehicle obstacle detection," Proceedings of SPIE 7692, Unmanned Systems Technology XII, 76920D, 2010.
  8. Y. Bar-Shalom and T. Fortmann, Tracking and Data Association, Academic Press, 1988.
  9. E. Mazor, A. Averbuch, Y. Bar-Shalom, and J. Dayan, "Interacting multiple model methods in target tracking: a surbey," IEEE Transactions on Aerospace and Electronic Systems, vol. 34, no. 1, pp. 103-123, 1998. https://doi.org/10.1109/7.640267
  10. T. H. Fang, J.-W. Hahn, N. S. Son, S. Y. Kim, and J. W. Kim, "Target Tracking Filter Using LIDAR for Ship Tracking in Marine Environment," Proc. of 2014 29th ICORS Annual Conference (in Korean), pp. 332-333, 2014.
  11. B. Douillard, J. Underwood, N. Kuntz, V. Vlaskine, A. Quadros, P. Morton, and A. Frenkel, "On the segmentation of 3D LIDAR point clouds," Proc. of 2011 IEEE International Conference on Robotics and Automation, pp. 2798-2805, 2011.
  12. G. Hamerly and C. Elkan, "Learning the K in K-means," Proc. of the Neural Information Processing Systems Conference, 2003.
  13. J. Han and J. Kim, "Navigation of an unmanned surface vessel under bridges," Proc. of the 10th International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 206-210, 2013.
  14. A. Houses and Y. Bar-Shalom, "Multisensor tracking of a maneuvering target in clutter," IEEE Transactions on Aerospace and Electronic Systems, vol. 25, no. 2, pp. 176-188, 1989. https://doi.org/10.1109/7.18679
  15. J. Yoo and Y. Kang, "Performance analysis on the IMM-PDAF method for longitudinal and lateral maneuver detection using automotive radar measurements," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 21, no. 3, pp. 224-232, 2015. https://doi.org/10.5302/J.ICROS.2015.14.9015
  16. J. W. Choi, T. H. Fang, and T. L. Song, "Interacting multiple model filter with error monitoring and recovery technique of perception net," IEE Proceedings-Radar, Sonar Navigation, vol. 150, no. 2, pp. 58-64, 2003. https://doi.org/10.1049/ip-rsn:20030079