NDLI: A detection and relative direction estimation method for UAV in sense-and-avoid

Content Provider	IEEE Xplore Digital Library
Author	Zhaowei Ma Tianjiang Hu Lincheng Shen Weiwei Kong Boxin Zhao
Copyright Year	2015
Description	Author affiliation: Coll. of Mechatron. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Zhaowei Ma; Tianjiang Hu; Lincheng Shen; Weiwei Kong; Boxin Zhao)
Abstract	This article mainly focuses on the vision-based obstacle avoidance of unmanned aerial vehicle (UAV). Detecting the obstacle and controlling the UAV to avoid it are two key modules in the sense-and-avoid system. We adopt a bio-inspired human vision algorithm called saliency method to realize the automatic detection. Furthermore, this article proposes a reference yaw angle calculator algorithm based on the geometrical relationship between the UAV and camera. The UAV aims to perform the yaw maneuver to avoid the obstacle in this article. The yaw angle regulating process is achieved via a PD controller operating as the low level control scheme. Finally, proposed methods are verified using the AR. Drone and ROS-based scheme. The experimental results show that the proposed method is a powerful candidate for vision based avoidance in the aerial environment.
Starting Page	2677
Ending Page	2682
File Size	816623
Page Count	6
File Format	PDF
e-ISBN	9781467391047
DOI	10.1109/ICInfA.2015.7279738
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization unmanned aerial vehicle (UAV) Image edge detection Cameras Optical imaging Salient detection PD control Discrete cosine transforms Collision avoidance Avoidance control
Content Type	Text
Resource Type	Article

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