Vision-based detection and tracking of aerial targets for UAV collision avoidance
Mejias, Luis, McNamara, Scott, Lai, John S., & Ford, Jason J. (2010) Vision-based detection and tracking of aerial targets for UAV collision avoidance. In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Taipei International Convention Center, Taipei. (In Press)
Machine vision represents a particularly attractive solution for sensing and detecting potential collision-course targets due to the relatively low cost, size, weight, and power requirements of the sensors involved (as opposed to radar). This paper describes the development and evaluation of a vision-based collision detection algorithm suitable for fixed-wing aerial robotics. The system was evaluated using highly realistic vision data of the moments leading up to a collision. Based on the collected data, our detection approaches were able to detect targets at distances ranging from 400m to about 900m. These distances (with some assumptions about closing speeds and aircraft trajectories) translate to an advanced warning of between 8-10 seconds ahead of impact, which approaches the 12.5 second response time recommended for human pilots. We make use of the enormous potential of graphic processing units to achieve processing rates of 30Hz (for images of size 1024-by- 768). Currently, integration in the final platform is under way.
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|Item Type:||Conference Paper|
|Additional Information:||Accepted version:14/06/2010|
|Keywords:||UAV sense and avoid, Hidden Markov Models, Computer vision|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation|
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2010 [please consult the authors]|
|Deposited On:||22 Jun 2010 07:14|
|Last Modified:||01 Mar 2012 00:21|
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