Onboard Marker-Less Detection and Localization of Non-Cooperating Drones for Their Safe Interception by an Autonomous Aerial System

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00341810" target="_blank" >RIV/68407700:21230/19:00341810 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2019.2927130" target="_blank" >https://doi.org/10.1109/LRA.2019.2927130</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2019.2927130" target="_blank" >10.1109/LRA.2019.2927130</a>

Result language
angličtina
Original language name
Onboard Marker-Less Detection and Localization of Non-Cooperating Drones for Their Safe Interception by an Autonomous Aerial System
Original language description
In this letter, a novel approach to fast three-dimensional (3-D) localization of flying objects for their interception by a micro aerial vehicle (MAV) is presented. The proposed method utilizes a depth image from a stereo camera to facilitate onboard detection of drones, flying in its proximity. The method does not rely on using any kind of markers, which enables localization of non-cooperating drones. This approach strongly relaxes the requirements on the drones to be detected, and the detection algorithm is computationally undemanding enough to process images online, onboard an MAV with limited computational resources. This allows using the detection system in the control feedback of an autonomous aerial intercepting system. Output of the detection algorithm is filtered by a 3-D multi-target tracking algorithm to reduce false positives, preserve temporal consistency of the detections, and to predict positions of the drones (e.g., to compensate camera and processing delays). We demonstrate the importance of the advances in flying object localization, presented in this letter, in an experiment with an intruder-interceptor scenario, which would be unfeasible using state-of-the-art detection and localization methods.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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