TY - GEN
T1 - Real-Time Evaluation Method and Implementation of Multi-sensor Dynamic Ranging Capability for UAV
AU - Wang, Chenyi
AU - Yao, Yuan
AU - Wu, Wenliang
AU - Yang, Chen
AU - Zhang, Kaiqi
AU - Kou, Kai
AU - Yang, Gang
AU - Zhou, Xingshe
AU - Shen, Bo
N1 - Publisher Copyright:
© 2023, Beijing HIWING Sci. and Tech. Info Inst.
PY - 2023
Y1 - 2023
N2 - UAVs need to use a large number of sensors to complete autonomous navigation tasks in indoor environments. The evaluation of multi-sensors ranging capabilities in different application scenarios is an important research direction at present. This paper analyzes three main factors (light intensity, distance, target material) affecting the ranging capability of three sensors (depth camera D435i, binocular camera T265, and lidar Rplidar A1). To quantify the ranging capability of sensors in different application scenarios, the concept of dynamic ranging capability index (DRCI) is proposed in this study, which mainly depends on ranging accuracy. DRCI is a fuzzy evaluation index. The higher DRCI value, the stronger ranging capability. Through the analysis of a large number of experimental data, we establish the DRCI calculation method. This paper uses three sensors for a ranging task while calculating DRCI by the method in Airsim simulation scenarios and real scenarios. Finally, the real-time changes in the ranging capability of multi-sensors can be effectively evaluated by the method, and the results in simulation scenarios are validated in real scenarios.
AB - UAVs need to use a large number of sensors to complete autonomous navigation tasks in indoor environments. The evaluation of multi-sensors ranging capabilities in different application scenarios is an important research direction at present. This paper analyzes three main factors (light intensity, distance, target material) affecting the ranging capability of three sensors (depth camera D435i, binocular camera T265, and lidar Rplidar A1). To quantify the ranging capability of sensors in different application scenarios, the concept of dynamic ranging capability index (DRCI) is proposed in this study, which mainly depends on ranging accuracy. DRCI is a fuzzy evaluation index. The higher DRCI value, the stronger ranging capability. Through the analysis of a large number of experimental data, we establish the DRCI calculation method. This paper uses three sensors for a ranging task while calculating DRCI by the method in Airsim simulation scenarios and real scenarios. Finally, the real-time changes in the ranging capability of multi-sensors can be effectively evaluated by the method, and the results in simulation scenarios are validated in real scenarios.
KW - Capability evaluation
KW - Dynamic ranging capability
KW - Multi-sensors
KW - Ranging accuracy
UR - https://www.scopus.com/pages/publications/85151064457
U2 - 10.1007/978-981-99-0479-2_80
DO - 10.1007/978-981-99-0479-2_80
M3 - 会议稿件
AN - SCOPUS:85151064457
SN - 9789819904785
T3 - Lecture Notes in Electrical Engineering
SP - 878
EP - 890
BT - Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
A2 - Fu, Wenxing
A2 - Gu, Mancang
A2 - Niu, Yifeng
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2022
Y2 - 23 September 2022 through 25 September 2022
ER -