“Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries”

Authors: Øystein Kaarstad Helgesen, Emil H. Thyri, Edmund Brekke, Annette Stahl and Morten Breivik,
Affiliation: NTNU, Department of Engineering Cybernetics and Zeabuz AS
Reference: 2023, Vol 44, No 2, pp. 55-68.

Keywords: Maritime autonomy, target tracking, collision avoidance, daylight cameras, full-scale experiments, autonomous surface vehicle, autonomous urban passenger ferries

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.

PDF PDF (3291 Kb)        DOI: 10.4173/mic.2023.2.2

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  title={{Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries}},
  author={Helgesen, Øystein Kaarstad and Thyri, Emil H. and Brekke, Edmund and Stahl, Annette and Breivik, Morten},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}