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...

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Main Authors:	Ramli, Muhammad Faiz, Shamsudin, Syariful Syafiq, Legowo, Ari
Format:	Article
Language:	English English
Published:	Institute of Advanced Engineering and Science (IAES) 2017
Subjects:	QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery
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

id	iium-62993
recordtype	eprints
spelling	iium-629932018-03-23T03:18:55Z http://irep.iium.edu.my/62993/ Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery 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 Institute of Advanced Engineering and Science (IAES) 2017-11 Article PeerReviewed application/pdf en http://irep.iium.edu.my/62993/1/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_article.pdf application/pdf en http://irep.iium.edu.my/62993/2/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_scopus.pdf Ramli, Muhammad Faiz and Shamsudin, Syariful Syafiq and Legowo, Ari (2017) Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle. Indonesian Journal of Electrical Engineering and Computer Science, 8 (2). pp. 441-449. ISSN 2502-4752 E-ISSN 2502-4760 http://www.iaescore.com/journals/index.php/IJEECS/article/view/10012/7647 10.11591/ijeecs.v8.i2.pp441-449
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery
spellingShingle	QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
description	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
format	Article
author	Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari
author_facet	Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari
author_sort	Ramli, Muhammad Faiz
title	Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
title_short	Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
title_full	Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
title_fullStr	Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
title_full_unstemmed	Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
title_sort	obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
publisher	Institute of Advanced Engineering and Science (IAES)
publishDate	2017
url	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
first_indexed	2023-09-18T21:29:17Z
last_indexed	2023-09-18T21:29:17Z
_version_	1777412402340429824

Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle

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