Stereo Vision for Unmanned Aerial VehicleDetection, Tracking, and Motion 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.
- Publication:
-
arXiv e-prints
- Pub Date:
- May 2020
- DOI:
- 10.48550/arXiv.2005.04183
- arXiv:
- arXiv:2005.04183
- Bibcode:
- 2020arXiv200504183B
- Keywords:
-
- Electrical Engineering and Systems Science - Signal Processing;
- Electrical Engineering and Systems Science - Image and Video Processing;
- Electrical Engineering and Systems Science - Systems and Control
- E-Print:
- This work was accepted as a Late-Breaking result at the IFAC World Congress 2020