000007710 001__ 7710 000007710 005__ 20240531164757.0 000007710 02470 $$2doi$$a10.24868/issn.2515-818X.2020.069 000007710 035__ $$a4498560 000007710 037__ $$aGENERAL 000007710 245__ $$aMulti-Target Tracking and Detection, fusing RADAR and AIS Signals using Poisson Multi-Bernoulli Mixture Tracking, in support of Autonomous Sailing 000007710 269__ $$a2020-10-05 000007710 336__ $$aConference Proceedings 000007710 520__ $$aTo sail safely, an autonomous vessel should be able to keep track of the position and motion of other vessels<br> and obstacles, which refers to the multi-target tracking problem. Furthermore, RADAR and automatic identification<br> system (AIS) are two sensors commonly used onboard for tracking maritime targets. The fusion of these two<br> sensors, utilizing complementary information and handling the conflicting data, gets increasingly important during<br> autonomous sailing. However, due to the immaturity of multi-target tracking methods, the fusion was hardly<br> systematically discussed, when there are missed detections from certain single sensors and conflicts between two<br> sensors. As the new multi-target tracking methods have been proposed, this paper first presents a sequential<br> measurement-level fusion approach of RADAR and AIS based on the newest random finite set (RFS)-based filter<br> &mdash; Poisson multi-Bernoulli mixture (PMBM) filter. The comparison of the performance both using sequential<br> fusion and using the sensor information individually is presented in this article. Then the proposed sequential<br> fusion of RADAR and AIS based on PMBM filter was applied to a real maritime case. The tracking results are<br> given and the performance is analyzed. 000007710 542__ $$fCC-BY-4.0 000007710 6531_ $$aRADAR and AIS fusion 000007710 6531_ $$asensor fusion 000007710 6531_ $$amulti-target tracking 000007710 6531_ $$aPMBM tracker 000007710 6531_ $$adata association 000007710 7001_ $$aMiao, T$$uKU Leuven, Belgium 000007710 7001_ $$aEl Amam, E$$uRH Marine Netherlands B.V., the Netherlands 000007710 7001_ $$aSlaets, P$$uKU Leuven, Belgium 000007710 7001_ $$aPissoort, D$$uKU Leuven, Belgium 000007710 773__ $$tConference Proceedings of INEC 000007710 773__ $$jINEC 2020 000007710 789__ $$whttps://zenodo.org/record/4498560$$2URL$$eIsIdenticalTo 000007710 85641 $$uhttps://www.imarest.org/events/inec-2020$$yConference website 000007710 8564_ $$9b07091ff-aadb-468e-ae92-fef389d55656$$s1999400$$uhttps://library.imarest.org/record/7710/files/INEC_2020_Paper_107.pdf