UAV guidance: a stereo-based technique for interception of stationary or moving targets

Strydom, Reuben, Thurrowgood, Saul, Denuelle, Aymeric and Srinivasan, Mandyam V. (2015). UAV guidance: a stereo-based technique for interception of stationary or moving targets. In: Clare Dixon and Karl Tuyls, Towards Autonomous Robotic Systems (Taros 2015). 16th Annual Conference on Towards Autonomous Robotic Systems (TAROS), Liverpool England, (258-269). 8 - 10 September 2015. doi:10.1007/978-3-319-22416-9_30

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Author Strydom, Reuben
Thurrowgood, Saul
Denuelle, Aymeric
Srinivasan, Mandyam V.
Title of paper UAV guidance: a stereo-based technique for interception of stationary or moving targets
Conference name 16th Annual Conference on Towards Autonomous Robotic Systems (TAROS)
Conference location Liverpool England
Conference dates 8 - 10 September 2015
Proceedings title Towards Autonomous Robotic Systems (Taros 2015)   Check publisher's open access policy
Journal name Towards Autonomous Robotic Systems (Taros 2015)   Check publisher's open access policy
Series Lecture Notes in Computer Science
Place of Publication Heidelberg, Germany
Publisher Springer International Publishing
Publication Year 2015
Sub-type Fully published paper
DOI 10.1007/978-3-319-22416-9_30
Open Access Status Not Open Access
ISBN 9783319224152
9783319224169
ISSN 0302-9743
1611-3349
Editor Clare Dixon
Karl Tuyls
Volume 9287
Start page 258
End page 269
Total pages 12
Language eng
Abstract/Summary We present a novel stereo-based method for the interception of a static or moving target, from an Unmanned Aerial Vehicle (UAV). This technique is directly applicable for outdoor applications such as search and rescue, monitoring and surveillance, and complex landing scenarios. Stereo vision is particularly useful for the interception of a moving target as it intrinsically measures the relative position and velocity between the UAV and the person or object. The target position is computed geometrically using its direction, as viewed by the vision system, and the UAV’s stereo height. A Kalman filter computes a reliable estimate of relative position and velocity using the target centroid. The performance of this method is validated by conducting a number of closed-loop interceptions for both static and moving target cases. The mean interception error is found to be 0.01m with a standard deviation of 0.33m in tests with static targets and 0.14m with a standard deviation of 0.24m in tests with moving targets. Our method has been field-tested outdoors and provides results comparable to other vision-based techniques that have been tested under more controlled indoor conditions.
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status UQ

 
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