NDLI: A vision based sense and avoid system for small unmanned helicopter

Content Provider	IEEE Xplore Digital Library
Author	Yang Lyu Quan Pan Chunhui Zhao Haifeng Zhu Tongguo Tang Yizhai Zhang
Copyright Year	2015
Abstract	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.
Starting Page	586
Ending Page	592
File Size	3202610
Page Count	7
File Format	PDF
e-ISBN	9781479960101
DOI	10.1109/ICUAS.2015.7152339
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Object detection Cameras Radar tracking Path planning Aircraft
Content Type	Text
Resource Type	Article

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