Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00323128" target="_blank" >RIV/68407700:21230/18:00323128 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/18:00322426
Result on the web
<a href="https://ieeexplore.ieee.org/document/8560384" target="_blank" >https://ieeexplore.ieee.org/document/8560384</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/COASE.2018.8560384" target="_blank" >10.1109/COASE.2018.8560384</a>

Result language
angličtina
Original language name
Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform
Original language description
A novel vision-based approach for indoor/outdoor mutual localization on Unmanned Aerial Vehicles (UAVs) with low computational requirements and without external infrastructure is proposed in this paper. The proposed solution exploits the low natural emissions in the near-Ultra-Violet (UV) spectrum to avoid major drawbacks of the visible spectrum. Such approach provides much better reliability while being less computationally intensive. Working in near-UV requires active markers, which can be leveraged by enriching the information content through blinking patterns encoded marker-ID. In order to track the markers motion and identify their blinking frequency, we propose an innovative use of three dimensional Hough Transform, applied to stored position-time points. The proposed method was intensively tested onboard multi-UAV systems in real-world scenarios that are very challenging for visible-spectrum methods. The results of our methods in terms of robustness, reliability and precision, as well as the low requirement on the system deployment, predestine this method to be an enabling technology for using swarms of UAVs.
Czech name
—
Czech description
—

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
S - Specificky vyzkum na vysokych skolach

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the IEEE International Conference on Automation Science and Engineering
ISBN
978-1-5386-3593-3
ISSN
—
e-ISSN
2161-8089
Number of pages
6
Pages from-to
298-303
Publisher name
IEEE
Place of publication
—
Event location
Munich
Event date
Aug 20, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000460536600047

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