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)