On Onboard LiDAR-Based Flying Object Detection
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00378827" target="_blank" >RIV/68407700:21230/25:00378827 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/TRO.2024.3502494" target="_blank" >https://doi.org/10.1109/TRO.2024.3502494</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TRO.2024.3502494" target="_blank" >10.1109/TRO.2024.3502494</a>
Alternative languages
Result language
angličtina
Original language name
On Onboard LiDAR-Based Flying Object Detection
Original language description
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multirobot interaction is presented in this article. The approach is proposed for use on board of autonomous aerial vehicles equipped with a 3-D LiDAR sensor. It relies on a novel 3-D occupancy voxel mapping method for the target detection that provides high localization accuracy and robustness with respect to varying environments and appearance changes of the target. In combination with a proposed cluster-based multitarget tracker, sporadic false positives are suppressed, state estimation of the target is provided, and the detection latency is negligible. This makes the system suitable for tasks of agile multirobot interaction, such as autonomous aerial interception or formation control where fast, precise, and robust relative localization of other robots is crucial. We evaluate the viability and performance of the system in simulated and real-world experiments which demonstrate that at a range of 20 m, our system is capable of reliably detecting a microscale UAV with an almost 100% recall, 0.2 m accuracy, and 20 ms delay.
Czech name
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Czech description
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Classification
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
20204 - Robotics and automatic control
Result continuities
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)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Robotics
ISSN
1552-3098
e-ISSN
1941-0468
Volume of the periodical
41
Issue of the periodical within the volume
January
Country of publishing house
US - UNITED STATES
Number of pages
19
Pages from-to
593-611
UT code for WoS article
001380653000002
EID of the result in the Scopus database
2-s2.0-86000389369