Low altitude sense and avoid for MUAV based on stereo vision

Jun Hou; Qingchun Zhang; Yizhai Zhang; Kaixuan Zhu; Yang Lv; Changbin Yu

doi:10.1109/ChiCC.2016.7554226

Low altitude sense and avoid for MUAV based on stereo vision

Jun Hou, Qingchun Zhang, Yizhai Zhang, Kaixuan Zhu, Yang Lv, Changbin Yu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

The performance of SAA (Sense and Avoid) for UAV (Unmanned Aerial Vehicle) is the key function to ensure the UAV's autonomous flight safety. Due to the limitation of payload and size, the micro UAV can't equip large sensors such as radar, etc. Toward the challenging operation condition in low altitude flight environment, we proposed a complete stereo vision based SAA solution suitable for MUAV (Micro Unmanned Aerial Vehicle). By processing the stereo vision data onboard the micro UAV, the proposed method is able to efficiently detect obstacle, evaluate threat level and perform collision avoid maneuver. Experimental results show that the SAA method based on stereo vision can achieve accurate obstacles sensing and effective avoidance maneuver in low altitude airspace, The proposed SAA method can be a practical resolution to ensure low altitude SUAV's safety.

Original language	English
Title of host publication	Proceedings of the 35th Chinese Control Conference, CCC 2016
Editors	Jie Chen, Qianchuan Zhao, Jie Chen
Publisher	IEEE Computer Society
Pages	5579-5584
Number of pages	6
ISBN (Electronic)	9789881563910
DOIs	https://doi.org/10.1109/ChiCC.2016.7554226
Publication status	Published - 26 Aug 2016
Event	35th Chinese Control Conference, CCC 2016 - Chengdu, China Duration: 27 Jul 2016 → 29 Jul 2016

Publication series

Name	Chinese Control Conference, CCC
Volume	2016-August
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	35th Chinese Control Conference, CCC 2016
Country/Territory	China
City	Chengdu
Period	27/07/16 → 29/07/16

Access to Document

10.1109/ChiCC.2016.7554226

Cite this

Hou, J., Zhang, Q., Zhang, Y., Zhu, K., Lv, Y., & Yu, C. (2016). Low altitude sense and avoid for MUAV based on stereo vision. In J. Chen, Q. Zhao, & J. Chen (Eds.), Proceedings of the 35th Chinese Control Conference, CCC 2016 (pp. 5579-5584). Article 7554226 (Chinese Control Conference, CCC; Vol. 2016-August). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2016.7554226

@inproceedings{5fa12f1c34c243099166548fff8267ba,

title = "Low altitude sense and avoid for MUAV based on stereo vision",

abstract = "The performance of SAA (Sense and Avoid) for UAV (Unmanned Aerial Vehicle) is the key function to ensure the UAV's autonomous flight safety. Due to the limitation of payload and size, the micro UAV can't equip large sensors such as radar, etc. Toward the challenging operation condition in low altitude flight environment, we proposed a complete stereo vision based SAA solution suitable for MUAV (Micro Unmanned Aerial Vehicle). By processing the stereo vision data onboard the micro UAV, the proposed method is able to efficiently detect obstacle, evaluate threat level and perform collision avoid maneuver. Experimental results show that the SAA method based on stereo vision can achieve accurate obstacles sensing and effective avoidance maneuver in low altitude airspace, The proposed SAA method can be a practical resolution to ensure low altitude SUAV's safety.",

keywords = "MUAV, Sense and Avoid, Stereo Vision, Target Detection, The three-dimensional reconstruction",

author = "Jun Hou and Qingchun Zhang and Yizhai Zhang and Kaixuan Zhu and Yang Lv and Changbin Yu",

note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",

year = "2016",

month = aug,

day = "26",

doi = "10.1109/ChiCC.2016.7554226",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "5579--5584",

editor = "Jie Chen and Qianchuan Zhao and Jie Chen",

booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",

address = "United States",

}

Hou, J, Zhang, Q, Zhang, Y, Zhu, K, Lv, Y & Yu, C 2016, Low altitude sense and avoid for MUAV based on stereo vision. in J Chen, Q Zhao & J Chen (eds), Proceedings of the 35th Chinese Control Conference, CCC 2016., 7554226, Chinese Control Conference, CCC, vol. 2016-August, IEEE Computer Society, pp. 5579-5584, 35th Chinese Control Conference, CCC 2016, Chengdu, China, 27/07/16. https://doi.org/10.1109/ChiCC.2016.7554226

Low altitude sense and avoid for MUAV based on stereo vision. / Hou, Jun; Zhang, Qingchun; Zhang, Yizhai et al.
Proceedings of the 35th Chinese Control Conference, CCC 2016. ed. / Jie Chen; Qianchuan Zhao; Jie Chen. IEEE Computer Society, 2016. p. 5579-5584 7554226 (Chinese Control Conference, CCC; Vol. 2016-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Low altitude sense and avoid for MUAV based on stereo vision

AU - Hou, Jun

AU - Zhang, Qingchun

AU - Zhang, Yizhai

AU - Zhu, Kaixuan

AU - Lv, Yang

AU - Yu, Changbin

PY - 2016/8/26

Y1 - 2016/8/26

N2 - The performance of SAA (Sense and Avoid) for UAV (Unmanned Aerial Vehicle) is the key function to ensure the UAV's autonomous flight safety. Due to the limitation of payload and size, the micro UAV can't equip large sensors such as radar, etc. Toward the challenging operation condition in low altitude flight environment, we proposed a complete stereo vision based SAA solution suitable for MUAV (Micro Unmanned Aerial Vehicle). By processing the stereo vision data onboard the micro UAV, the proposed method is able to efficiently detect obstacle, evaluate threat level and perform collision avoid maneuver. Experimental results show that the SAA method based on stereo vision can achieve accurate obstacles sensing and effective avoidance maneuver in low altitude airspace, The proposed SAA method can be a practical resolution to ensure low altitude SUAV's safety.

AB - The performance of SAA (Sense and Avoid) for UAV (Unmanned Aerial Vehicle) is the key function to ensure the UAV's autonomous flight safety. Due to the limitation of payload and size, the micro UAV can't equip large sensors such as radar, etc. Toward the challenging operation condition in low altitude flight environment, we proposed a complete stereo vision based SAA solution suitable for MUAV (Micro Unmanned Aerial Vehicle). By processing the stereo vision data onboard the micro UAV, the proposed method is able to efficiently detect obstacle, evaluate threat level and perform collision avoid maneuver. Experimental results show that the SAA method based on stereo vision can achieve accurate obstacles sensing and effective avoidance maneuver in low altitude airspace, The proposed SAA method can be a practical resolution to ensure low altitude SUAV's safety.

KW - MUAV

KW - Sense and Avoid

KW - Stereo Vision

KW - Target Detection

KW - The three-dimensional reconstruction

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U2 - 10.1109/ChiCC.2016.7554226

DO - 10.1109/ChiCC.2016.7554226

M3 - Conference contribution

T3 - Chinese Control Conference, CCC

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EP - 5584

BT - Proceedings of the 35th Chinese Control Conference, CCC 2016

A2 - Chen, Jie

A2 - Zhao, Qianchuan

A2 - Chen, Jie

PB - IEEE Computer Society

T2 - 35th Chinese Control Conference, CCC 2016

Y2 - 27 July 2016 through 29 July 2016

ER -

Low altitude sense and avoid for MUAV based on stereo vision

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