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autonomous-marine-vessel

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elifpulukcu / harbour-multi-sensor-tracking

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Multi-sensor multi-target tracking system for harbour surveillance. Fuses mm-wave radar, stereo camera, AIS and GNSS via an Extended Kalman Filter with Hungarian (GNN) data association and M-of-N track lifecycle. Validated on simulated scenarios and real Copenhagen harbour recordings.

sensor-fusion kalman-filter ais hungarian-algorithm maritime data-association extended-kalman-filter autonomous-marine-vessel multi-target-tracking
  • Updated May 6, 2026
  • Python

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