Target Recognition and Localization of UAV Passing Through Windows

Yang Su, Jinwen Hu, Chunhui Zhao, Xiaolei Hou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper introduces a visual perception system of UAV which solves the perception problem of UAV entering the house through the window during street warfare reconnaissance, that is how to identify and locate the window accurately in real-time and give the maximum safe crossing radius and plane normal vector. In order to solve the above problems, we propose an airborne visual perception system composed of window detection and localization. In the detection part, YOLOv3 algorithm is used to identify the window, and Harris is used to detect the corners of the window edge. In the localization part, the depth camera and visual odometer are combined to locate the window, then the maximum safe crossing radius and the plane normal vector of the window is calculated. In order to verify the performance of the system, we set up a tent for the actual flight experiment.

Original languageEnglish
Title of host publicationProceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021
EditorsMeiping Wu, Yifeng Niu, Mancang Gu, Jin Cheng
PublisherSpringer Science and Business Media Deutschland GmbH
Pages3469-3478
Number of pages10
ISBN (Print)9789811694912
DOIs
StatePublished - 2022
EventInternational Conference on Autonomous Unmanned Systems, ICAUS 2021 - Changsha, China
Duration: 24 Sep 202126 Sep 2021

Publication series

NameLecture Notes in Electrical Engineering
Volume861 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

ConferenceInternational Conference on Autonomous Unmanned Systems, ICAUS 2021
Country/TerritoryChina
CityChangsha
Period24/09/2126/09/21

Keywords

  • Localization
  • UAV system
  • Visual detection

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