Fig 5 - uploaded by Fabio Augusto de Alcantara Andrade
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Context 1
... a stationary boat was detected and tracked when the SeaDrone was moving on the direction of the target boat. As it can be seen in Figure 5, the detected stationary boat's position (gray) has a deviation of around 1.5 meters in the x axis and 1 meter in the y axis. The reasons for this deviation may be the fact that the detection returns the center pixel of the bounding box of the target boat and as the SeaDrone is moving, this center pixel may vary if the target boat is being spotted from different angles. ...
Context 2
... reasons may be sensor reading errors, for example, the depth, IMU or even the GNSS, as no RTK solution is used. In Figure 5, the trajectory of the SeaDrone was divided into two colors, the blue trajectory is before the target boat was detected, and the orange trajectory is during the detection and tracking. In Figure 6, the heading of the SeaDrone is presented, only from the moment where the target boat is detected, until the end of the test. ...
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