About Carl Petersson

This author has not yet filled in any details.
So far Carl Petersson has created 12 blog entries.

Motion planning for autonomous ferries

Robust and efficient algorithms for motion planning and collision avoidance are key to enable autonomous ferries. Moving to more complex operational domains including e.g. long transits and complex traffic situations, further research on motion planning and collision avoidance is required.​ Important keywords are the "rules of the road" (COLREGs), traffic interactions and online risk management.

2021-04-22T17:30:36+02:00April 22nd, 2021|

Land-based sensor rig

A land-based sensor may improve the situational awareness of the ferry beyond line of sight (e.g. beyond turns and bridges).​ It may also be possible to move sensors from the ferry to land without reducing situational awareness​. These sensors will detect the ferry in addition to other objects in the vicinity.

2021-04-22T17:35:09+02:00April 22nd, 2021|

Stereo vision for autonomous ferries​

Research papers from the autonomous driving community have argued that stereo vision can reach sufficient accuracy to replace lidars.​ The student will followup work on stereo vision for milliAmpere 1 and transition it to mA2​. The main goal is to investigate the performance gain of stereo vision versus lidars.​

2021-04-22T17:20:44+02:00April 22nd, 2021|

Automatic labeling of infrared images

The research vessel milliAmpere has a sensor rig that contains both infrared and RGB cameras. The cameras are stacked vertically, which means that the cameras have a large overlap in the field of view. This means that objects detected in the RGB frame can be transferred into the IR camera image.​ This way, the relatively weaker detection methods used in IR images can be trained using this automatically labeled data.

2021-04-22T17:16:48+02:00April 22nd, 2021|

Development of the milliAmpere 2 Digital Twin

NTNU and Zeabuz have developed a Digital Twin setup for the pilot ferry milliAmpere 2, with simulation models established using the Open Simulation Platform (OSP).​ This model should be further developed, tuned towards the recently launched real milliAmpere 2 ferry, and updated to facilitate updates based on data streams from the ferry.

2021-04-22T16:56:40+02:00April 22nd, 2021|

Online Risk Management for milliAmpere 2​

Utne et al. (2020) har proposed a method for developing an online risk model using Systems Theoretic Process Analysis (STPA) and Bayesian Belief Networks (BBNs). The student should develop an ORM system using this methodology for the milliAmpere 2 autonomous passenger ferry.

2021-04-22T16:48:15+02:00April 22nd, 2021|