Stereo Vision for Unmanned Aerial VehicleDetection, Tracking, and Motion Control
Signal Processing
2020-05-11 v1 Systems and Control
Image and Video Processing
Systems and Control
Abstract
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for real-time motion planning. The system consists of two parts: object detection using a stereo camera to generate 3D point cloud data and video tracking applying a Kalman filter for UAV motion modeling. After detection, the hunter can aim and shoot a tethered net at the intruder to neutralize it. The computer vision, motion tracking, and planning algorithms can be implemented on a portable computer installed on the hunter UAV.
Keywords
Cite
@article{arxiv.2005.04183,
title = {Stereo Vision for Unmanned Aerial VehicleDetection, Tracking, and Motion Control},
author = {Maria N. Brunet and Guilherme Aramizo Ribeiro and Nina Mahmoudian and Mo Rastgaar},
journal= {arXiv preprint arXiv:2005.04183},
year = {2020}
}
Comments
This work was accepted as a Late-Breaking result at the IFAC World Congress 2020