Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking
Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a particle-filter tracker that supports sequential measurement-level camera-LiDAR fusion and an information-gain (entropy-reduction) adaptive sensing policy that selects the most informative sensing modality at each fusion time bin. The approach is validated in a real maritime deployment at the Cyprus Marine and Maritime Institute Smart Marina Testbed (Ayia Napa Marina, Cyprus), using a shore-mounted 3D LiDAR and an elevated fixed camera to track a rigid i...
| Authors | Andrei Starodubov, Yaqub Aris Prabowo, Andreas Hadjipieris et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 3 July 2026 |
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