Heterogeneous multi-sensor tracking for an autonomous surface vehicle in a littoral environment

Sensor fusion plays a key part in autonomous surface vehicles, however, the high cost of sensors makes barrier entry this research field quite high. In work, we present complete system for sensor on milliAmpere ferry platform as well an open dataset maritime tracking across two environments. Individual and their detection pipelines are evaluated various metrics. We also evaluate performance both individually using multi-sensor extension JIPDA multi-target tracker. find that different environments have distinct challenges precluding use only single sensor. Utilizing multiple sensors, either or fusion, can mitigate these issues increasing safety margins situational awareness system.