Paper Info
Title
Onboard Stereo Vision for Drone Pursuit or Sense and Avoid
Abstract
We describe a new, on-board, short range perception system that enables micro aerial vehicles (MAVs) to detect, track, and follow or avoid nearby drones (within 2-20 meters) in GPS-denied environments. Each vehicle is able to sense its neighborhood and adapt its motion accordingly without use of centralized reasoning or inter-vehicle communication. To enable a lightweight, low power solution, on-board stereo cameras are used for detection and tracking with depth images, while a downward-looking camera and an inertial measurement unit are used to estimate the position of the observer without use of GPS. We illustrate the robustness and accuracy of this approach through real-time, outdoor leader-follower experiments with three quadrotors. Our experiments show that state-of-art trackers are far less robust in detection against cluttered background. This demonstrates that stereo vision is a highly effective approach to perception for safe navigation of multiple MAVs in close proximity.
Year
DOI
Venue
2018
10.1109/CVPRW.2018.00105
2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)
Keywords
Field
DocType
onboard stereo vision,drone pursuit,short range perception system,microaerial vehicles,nearby drones,GPS-denied environments,centralized reasoning,lightweight power solution,low power solution,on-board stereo cameras,depth images,inertial measurement unit,outdoor leader-follower experiments,state-of-art trackers,multiple MAVs
Computer vision,Stereo cameras,Radar tracker,Computer science,Stereopsis,Robustness (computer science),Drone,Global Positioning System,Inertial measurement unit,Artificial intelligence,Observer (quantum physics)
Conference
ISSN
ISBN
Citations 
2160-7508
978-1-5386-6101-7
0
PageRank 
References 
Authors
0.34
12
3
Name
Order
Citations
PageRank
Cevahir Cigla1749.98
Rohan Thakker243.78
Larry H. Matthies395879.64