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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

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

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

4

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

3402-3409

Kód UT WoS článku

000476812300009

EID výsledku v databázi Scopus

2-s2.0-85069788499