Object tracking, state estimation and sensor fusion for maritime navigation safety
Contribution:
AIS and radar object trackers and common base filter for them
Localization filter and FSM for datum point setters
Cloud data uploader (gsutils)
Visualization utils and helper geometry as rviz2 markers
Dockerizing the nodes
Several watchdogs for nodes productization
Regression algorithm test framework implementation in python
Unit-testing (gtest, gmock)
Partially sensor fusion system architecture
Technologies:
C++14, C++17, unit-tests, algorithm regression tests, ROS2, object tracking (AIS, radar),
Kalman Filter, localization of the vessel, ellipsoid to the tangential plane transform, docker-compose, sensor
fusion and object trackers system architecture, self-made python alogrithm regression test framework for
ROS2 based system, GoCD pipeline scripts refactoring