On Onboard LiDAR-Based Flying Object Detection

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

On Onboard LiDAR-Based Flying Object Detection

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

On Onboard LiDAR-Based Flying Object Detection

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

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

2025

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Robotics

ISSN

1552-3098

e-ISSN

1941-0468

Svazek periodika

41

Číslo periodika v rámci svazku

January

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

19

Strana od-do

593-611

Kód UT WoS článku

001380653000002

EID výsledku v databázi Scopus

2-s2.0-86000389369