Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle
Achieving a robust obstacle detection system that can provide a safe avoidance path 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...
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Institute of Electrical and Electronics Engineers Inc.
2018
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iium-69114 |
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iium-691142019-01-02T01:07:59Z http://irep.iium.edu.my/69114/ Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari TE210 Construction details. Including foundation, maintenance, equipment TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Achieving a robust obstacle detection system that can provide a safe avoidance path 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, a combination of both sensors based is proposed for a small UAV obstacle detection system. A small Lidar sensor is used as the initial detector of obstacle and queue for image capturing by the camera. Next, SURF algorithm is applied to find the obstacle regions and free space regions. This is done through the principal of object size changes and distance relationship in an image perspective. The proposed method was evaluated by conducting experiments in a real complex environment which consist of a textured and textureless obstacle. In the experiment conducted, we successfully detect and create a safe avoidance path for both situations. The textured situation gives a high success rate while textureless situation produces acceptable success rate until 60cm distance. Institute of Electrical and Electronics Engineers Inc. 2018-08-31 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/69114/3/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_cp.pdf application/pdf en http://irep.iium.edu.my/69114/4/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_scedule.pdf application/pdf en http://irep.iium.edu.my/69114/1/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_article.pdf application/pdf en http://irep.iium.edu.my/69114/2/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_scopus.pdf Ramli, Muhammad Faiz and Shamsudin, Syariful Syafiq and Legowo, Ari (2018) Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle. In: 5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2018, 20 - 22 June 2018, Rome; Italy. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8453521 10.1109/MetroAeroSpace.2018.8453521 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English English English |
| topic |
TE210 Construction details. Including foundation, maintenance, equipment TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| spellingShingle |
TE210 Construction details. Including foundation, maintenance, equipment TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| description |
Achieving a robust obstacle detection system that
can provide a safe avoidance path 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, a combination of both sensors based is
proposed for a small UAV obstacle detection system. A small
Lidar sensor is used as the initial detector of obstacle and queue
for image capturing by the camera. Next, SURF algorithm is
applied to find the obstacle regions and free space regions. This is
done through the principal of object size changes and distance
relationship in an image perspective. The proposed method was
evaluated by conducting experiments in a real complex
environment which consist of a textured and textureless obstacle.
In the experiment conducted, we successfully detect and create a
safe avoidance path for both situations. The textured situation
gives a high success rate while textureless situation produces
acceptable success rate until 60cm distance. |
| format |
Conference or Workshop Item |
| 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 |
Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| title_short |
Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| title_full |
Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| title_fullStr |
Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| title_full_unstemmed |
Safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| title_sort |
safe avoidance path detection using multi sensor integration for small unmanned aerial vehicle |
| publisher |
Institute of Electrical and Electronics Engineers Inc. |
| publishDate |
2018 |
| url |
http://irep.iium.edu.my/69114/ http://irep.iium.edu.my/69114/ http://irep.iium.edu.my/69114/ http://irep.iium.edu.my/69114/3/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_cp.pdf http://irep.iium.edu.my/69114/4/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_scedule.pdf http://irep.iium.edu.my/69114/1/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_article.pdf http://irep.iium.edu.my/69114/2/69114_Safe%20avoidance%20path%20detection%20using%20multi%20sensor_scopus.pdf |
| first_indexed |
2023-09-18T21:38:06Z |
| last_indexed |
2023-09-18T21:38:06Z |
| _version_ |
1777412956332490752 |