Dynamic Maritime Environment Object Tracking Method for MASS

• 발행기관: 한국항해항만학회
• 저자명: Fan ZHU 임남균
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2025 춘계학술대회논문집, 217~218쪽, 전체 2쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2025.05.08

국문 초록

Accurate visual tracking of maritime objects is vital for safe navigation in Maritime Autonomous Surface Ships (MASS). However, occlusion, non-linear object motion, and camera blur pose significant challenges in real-world maritime environments. To address these issues, this work proposes the Dynamic Maritime Object Tracking model, which enhances detection accuracy and enables robust tracking under highly dynamic conditions. The tracking stage employs an Observation-centric Kalman filter (OCKF) to correct large prediction errors caused by non-linear motion. Additionally, the introduction of the Robust Horizontal Observation-Centric Momentum Estimation (RHOCME) strategy better addresses the issues of frequent ID loss caused by shaking of MASS-induced instability. Experiments on the Singapore Maritime Dataset show that our model outperforms state-of-the-art methods under highly dynamic conditions, enhancing MASS situational awareness and improving navigational safety.

키워드

MASS Maritime multi-object tracking