Implementation of Tracking-Learning-Detection for Improving of a Stereo-Camera-based Marker-less Distance Measurement System for Vessel Berthing

A berthing aid system for vessel is required to reduce the workload of operators and improve work efficiency. A stereo-camera-based distance measurement system is a possible solution as cameras are able to keep track of the target and measure distance simultaneously. This paper proposes the implementation of TLD to the tracking function to improve the tracking performance of the measurement system. Implementation of TLD can minimise the tracking error of the tracking function and stabilise the tracking performance. The tracking performance is evaluated under illumination change. The experimental results demonstrate that the tracking function is sufficiently robust against illumination changes.