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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21230/18:00322426

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the IEEE International Conference on Automation Science and Engineering

ISBN

978-1-5386-3593-3

ISSN

—

e-ISSN

2161-8089

Počet stran výsledku

6

Strana od-do

298-303

Název nakladatele

IEEE

Místo vydání

—

Místo konání akce

Munich

Datum konání akce

20. 8. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000460536600047