{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:35:31Z","timestamp":1777714531390,"version":"3.51.4"},"reference-count":30,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2019,3,15]],"date-time":"2019-03-15T00:00:00Z","timestamp":1552608000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51579204"],"award-info":[{"award-number":["51579204"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Double First-rate Project of WUT","award":["472-20163042"],"award-info":[{"award-number":["472-20163042"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In order to monitor and manage vessels in channels effectively, identification and tracking are very necessary. This work developed a maritime unmanned aerial vehicle (Mar-UAV) system equipped with a high-resolution camera and an Automatic Identification System (AIS). A multi-feature and multi-level matching algorithm using the spatiotemporal characteristics of aerial images and AIS information was proposed to detect and identify field vessels. Specifically, multi-feature information, including position, scale, heading, speed, etc., are used to match between real-time image and AIS message. Additionally, the matching algorithm is divided into two levels, point matching and trajectory matching, for the accurate identification of surface vessels. Through such a matching algorithm, the Mar-UAV system is able to automatically identify the vessel\u2019s vision, which improves the autonomy of the UAV in maritime tasks. The multi-feature and multi-level matching algorithm has been employed for the developed Mar-UAV system, and some field experiments have been implemented in the Yangzi River. The results indicated that the proposed matching algorithm and the Mar-UAV system are very significant for achieving autonomous maritime supervision.<\/jats:p>","DOI":"10.3390\/s19061317","type":"journal-article","created":{"date-parts":[[2019,3,18]],"date-time":"2019-03-18T04:06:55Z","timestamp":1552882015000},"page":"1317","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["A Multi-Feature and Multi-Level Matching Algorithm Using Aerial Image and AIS for Vessel Identification"],"prefix":"10.3390","volume":"19","author":[{"given":"Supu","family":"Xiu","sequence":"first","affiliation":[{"name":"School of Navigation, Wuhan University of Technology, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanqiao","family":"Wen","sequence":"additional","affiliation":[{"name":"National Engineering Research Center for Water Transport Safety, Wuhan 430063, China"},{"name":"Intelligent Transportation Systems Research Center, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5609-4558","authenticated-orcid":false,"given":"Haiwen","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Navigation, Wuhan University of Technology, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changshi","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Navigation, Wuhan University of Technology, Wuhan 430063, China"},{"name":"Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9003-0478","authenticated-orcid":false,"given":"Wenqiang","family":"Zhan","sequence":"additional","affiliation":[{"name":"School of Navigation, Wuhan University of Technology, Wuhan 430063, China"},{"name":"Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiong","family":"Zou","sequence":"additional","affiliation":[{"name":"School of Navigation, Wuhan University of Technology, Wuhan 430063, China"},{"name":"Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chunhui","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Navigation, Wuhan University of Technology, Wuhan 430063, China"},{"name":"Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0252-1064","authenticated-orcid":false,"given":"Sayed Chhattan","family":"Shah","sequence":"additional","affiliation":[{"name":"Department of Information and Communication Engineering, Hankuk University of Foreign Studies, Seoul 02450, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Huang, R. (2018, January 26\u201327). Maritime intelligent real-time control system based on UAV. Proceedings of the IEEE International Conference on Robots & Intelligent System (ICRIS), Changsha, China.","DOI":"10.1109\/ICRIS.2018.00011"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1016\/j.marpol.2018.10.027","article-title":"Techno-optimism and ocean governance: New trends in maritime monitoring","volume":"99","author":"Nyman","year":"2019","journal-title":"Mar. Policy"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"553","DOI":"10.7210\/jrsj.26.553","article-title":"Development of information collecting system using a small unmanned aerial vehicle for disaster prevention and mitigation","volume":"26","author":"Suzuki","year":"2008","journal-title":"J. Robot. Soc. Jpn."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"4026","DOI":"10.3390\/rs70404026","article-title":"Evaluating multispectral images and vegetation indices for precision farming applications from UAV images","volume":"7","author":"Candiago","year":"2015","journal-title":"Remote Sens."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/MRA.2012.2206473","article-title":"Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue","volume":"19","author":"Tomic","year":"2012","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"914","DOI":"10.1002\/rob.20401","article-title":"Autonomous transportation and deployment with aerial robots for search and rescue missions","volume":"28","author":"Bernard","year":"2011","journal-title":"J. Field Robot."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"811","DOI":"10.1109\/TNB.2015.2478481","article-title":"A UAV-mounted whole cell biosensor system for environmental monitoring applications","volume":"14","author":"Lu","year":"2015","journal-title":"IEEE Trans. Nanobiosci."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"17504","DOI":"10.3390\/s121217504","article-title":"The exploitation of data from remote and human sensors for environment monitoring in the SMAT project","volume":"12","author":"Meo","year":"2012","journal-title":"Sensors"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Cruz, H., Eckert, M., Meneses, J., and Mart\u00ednez, J.F. (2016). Efficient forest fire detection index for application in unmanned aerial systems (UASs). Sensors, 16.","DOI":"10.3390\/s16060893"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"473","DOI":"10.1007\/s10846-010-9491-y","article-title":"Intuitive 3D maps for MAV terrain exploration and obstacle avoidance","volume":"61","author":"Weiss","year":"2011","journal-title":"J. Intel. Robot. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Anicet, A.S., Biu, M., Lindstr\u00f8m, U., Solbo, S.A., Broms, F., and Carroll, J. (2018). Monitoring marine mammals using unmanned aerial vehicles: Quantifying detection certainty. Ecosphere, 9.","DOI":"10.1002\/ecs2.2122"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1016\/j.compag.2018.10.005","article-title":"Unsupervised detection of vineyards by 3D point-cloud UAV photogrammetry for precision agriculture","volume":"155","author":"Comb","year":"2018","journal-title":"Comput. Electron. Agric."},{"key":"ref_13","unstructured":"Ribeiro, R., Cruz, G., Matos, J., and Bernardino, A. (2017). A dataset for airborne maritime surveillance environments. IEEE Trans. Circuits Syst. Video Technol."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Zhang, Y., Yuan, X., Fang, Y., and Chen, S. (2017). UAV low altitude photogrammetry for power line inspection. ISPRS Int. J. Geo-Inf., 6.","DOI":"10.3390\/ijgi6010014"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Freitas, S., Almeida, C., Silva, H., Almeida, J., and Silva, E. (2017, January 26\u201328). Supervised classification for hyperspectral imaging in UAV maritime target detection. Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Torres Vedras, Portugal.","DOI":"10.1109\/ICARSC.2018.8374165"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Mustapa, Z., Saat, S., Husin, S.H., and Abas, N. (2014, January 2\u20134). Altitude controller design for multi-copter UAV. Proceedings of the IEEE International Conference on Computer, Communications, and Control Technology (I4CT), Langkawi, Malaysia.","DOI":"10.1109\/I4CT.2014.6914210"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"528","DOI":"10.1016\/j.marpolbul.2016.02.072","article-title":"Unmanned vehicles for maritime spill response case study: Exercise cathach","volume":"110","author":"Dooly","year":"2016","journal-title":"Mar. Pollut. Bull."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Jung, Y., Cho, S., and Shim, D.H. (2015, January 9\u201312). A trajectory-tracking controller design using L1 adaptive control for multi-rotor UAVs. Proceedings of the IEEE International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, USA.","DOI":"10.1109\/ICUAS.2015.7152284"},{"key":"ref_19","unstructured":"Yuan, H., Xiao, C., Zhan, W., Wang, Y., Shi, C., Ye, H., Jiang, K., Ye, Z., Zhou, C., and Wen, Y. (2018). Target detection, positioning and tracking using new UAV gas sensor systems: Simulation and analysis. J. Intel. Robot. Syst., 1\u201312."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Ross, E., Arifin, B., and Brodsky, Y. (2011, January 24\u201329). An information system for ship detection and identification. Proceedings of the IEEE International Geoscience and Remote Sensing Symposium, Vancouver, BC, Canada.","DOI":"10.1109\/IGARSS.2011.6049574"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"348","DOI":"10.1016\/j.sigpro.2014.07.029","article-title":"Measurement level AIS\/radar fusion","volume":"106","author":"Habtemariam","year":"2015","journal-title":"Signal Process."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"439","DOI":"10.1109\/LGRS.2018.2792683","article-title":"Ship classification in SAR images improved by AIS knowledge transfer","volume":"15","author":"Lang","year":"2018","journal-title":"IEEE Geosci. Remote Sens. Lett."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"3892","DOI":"10.1109\/JSTARS.2014.2319195","article-title":"AIS-based evaluation of target detectors and SAR sensors characteristics for maritime surveillance","volume":"8","author":"Pelich","year":"2015","journal-title":"IEEE J. Sel. Top. Appl. Earth Obs. Remote Sens."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1017\/S0373463313000659","article-title":"Ship surveillance by integration of space-borne SAR and AIS\u2013review of current research","volume":"67","author":"Zhao","year":"2014","journal-title":"J. Navig."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Liu, X., and Cai, Z. (2010, January 27\u201330). Advanced obstacles detection and tracking by fusing millimeter wave radar and image sensor data. Proceedings of the IEEE International Conference on Control Automation & Systems (ICCAS), Gyeonggi-do, Korea.","DOI":"10.1109\/ICCAS.2010.5669740"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"290","DOI":"10.1002\/rob.21615","article-title":"Search and rescue rotary-wing UAV and its application to the lushan ms 7.0 earthquake","volume":"33","author":"Qi","year":"2016","journal-title":"J. Field Robot."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Saadeddin, K., Abdel-Hafez, M.F., Jaradat, M.A., and Jarrah, M.A. (2013, January 28\u201331). Optimization of intelligent-based approach for low-cost INS\/GPS navigation system. Proceedings of the IEEE International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, USA.","DOI":"10.1109\/ICUAS.2013.6564747"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Sun, J., Li, B., Jiang, Y., and Wen, C.Y. (2016). A camera-based target detection and positioning UAV system for search and rescue (SAR) purposes. Sensors, 16.","DOI":"10.3390\/s16111778"},{"key":"ref_29","unstructured":"Wang, H., Li, M., and Zhang, L. (2011, January 19\u201322). The distortion correction of large view wide-angle lens for image mosaic based on OpenCV. Proceedings of the IEEE International Conference on Mechatronic Science, Electric Engineering and Computer (MEC), Jilin, China."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Dzvonkovskaya, A., and Rohling, H. (2010, January 10\u201314). HF radar performance analysis based on AIS ship information. Proceedings of the IEEE Radar Conference, Washington, DC, USA.","DOI":"10.1109\/RADAR.2010.5494430"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/6\/1317\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:38:18Z","timestamp":1760186298000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/6\/1317"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,15]]},"references-count":30,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2019,3]]}},"alternative-id":["s19061317"],"URL":"https:\/\/doi.org\/10.3390\/s19061317","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,3,15]]}}}