ESR 2 – Unifying Simultaneous Localization and Mapping (SLAM) and Extended Object Tracking (EOT) for autonomous vessels in confined waterways

Host institution: NTNU (NO)
Project title/WP: Unifying Simultaneous Localization and Mapping (SLAM) and Extended Object Tracking (EOT) for autonomous vessels in confined waterways (WP1)
Supervisory board: Prof. E.F. Brekke (NTNU, NO), Prof. P. Slaets (KU Leuven, BE), Ø. Kjerstad (KM, NO)
Objectives:

• Develop sensor fusion algorithms suitable for autonomous vessels navigating in confined and congested environments
• Verify the accuracy and robustness of the sensor fusion algorithms in full-scale experiments

Expected Results:

• Combined localization and tracking algorithms that can be used for autonomous inland shipping and manoeuvring in harbours
• Full verification of the localization and tracking algorithms on real data recorded using sensors mounted on a test vessel in relevant environments

Planned secondment(s):

• KU Leuven (BE): Building a point cloud framework for tracking and map building together with ESR3 (M13-15, secondment mentor: P. Slaets)
• KM (NO): Verification of the localization and tracking algorithms on test vessel (M30-32, secondment mentor: Ø. Kjerstad)

Enrolment in the Doctoral degree: NTNU (NO)