Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
Achieving a robust obstacle detection system for small UAV is very challenging. Due to size and weight constraints, very limited detection sensors can be equipped in the system. Prior works focused on a single sensing device which is either camera or range sensors based. However, these sensors hav...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English English |
| Published: |
Institute of Advanced Engineering and Science (IAES)
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/1/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_article.pdf http://irep.iium.edu.my/62993/2/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_scopus.pdf |
| Summary: | Achieving a robust obstacle detection system for small UAV is very challenging. Due to size and
weight constraints, very limited detection sensors can be equipped in the system. Prior works focused on a
single sensing device which is either camera or range sensors based. However, these sensors have their
own advantages and disadvantages in detecting the appearance of the obstacles. In this paper,
combination of both sensors based is proposed for a small UAV obstacle detection system. A small Lidar
sensor is used as the initial detector and queue for image capturing by the camera. Next, SURF algorithm
is applied to find the obstacle sizes estimation by searching the connecting feature points in the image
frame. Finally, safe avoidance path for UAV is determined through the exterior feature points from the
estimated width of the obstacle. The proposed method was evaluated by conducting experiments in real
time with indoor environment. In the experiment conducted, we successfully detect and determine a safe
avoidance path for the UAV on 6 different sizes and textures of the obstacles including textureless
obstacles |
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