TY - GEN
T1 - A vision based sense and avoid system for small unmanned helicopter
AU - Lyu, Yang
AU - Pan, Quan
AU - Zhao, Chunhui
AU - Zhu, Haifeng
AU - Tang, Tongguo
AU - Zhang, Yizhai
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/7
Y1 - 2015/7/7
N2 - Sense and Avoid (SAA) has been identified as one of the crucial technologies for integrating UAV into civil airspace, and vision based SAA is regarded as a promising solution. In this paper we described our vision based SAA system consisted of onboard vision detection system and Groud Control Station (GCS) to fulfill the intruder detection and avoid maneuver control tasks. To realize the small intruder detection in collision scenario, we adopt a CMO filter based method for pre-processing as well as a HMM filter for target detection. The adopted algorithms are modified and immigrated on a high performance DM8168 onboard computer for efficiency consideration. Due to the depth missing problem of vision sensor, we developed a relative angle based avoidance strategy to perform the collision avoid of intruders. In the end, the proposed system is tested on real flight scenario to demonstrate its capability for small intruder collision avoid.
AB - Sense and Avoid (SAA) has been identified as one of the crucial technologies for integrating UAV into civil airspace, and vision based SAA is regarded as a promising solution. In this paper we described our vision based SAA system consisted of onboard vision detection system and Groud Control Station (GCS) to fulfill the intruder detection and avoid maneuver control tasks. To realize the small intruder detection in collision scenario, we adopt a CMO filter based method for pre-processing as well as a HMM filter for target detection. The adopted algorithms are modified and immigrated on a high performance DM8168 onboard computer for efficiency consideration. Due to the depth missing problem of vision sensor, we developed a relative angle based avoidance strategy to perform the collision avoid of intruders. In the end, the proposed system is tested on real flight scenario to demonstrate its capability for small intruder collision avoid.
UR - http://www.scopus.com/inward/record.url?scp=84941029929&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2015.7152339
DO - 10.1109/ICUAS.2015.7152339
M3 - 会议稿件
AN - SCOPUS:84941029929
T3 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
SP - 586
EP - 592
BT - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Y2 - 9 June 2015 through 12 June 2015
ER -