A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems

Carrio Fernández, Adrián and Fu, Changhong and Pestana Puerta, Jesús and Campoy Cervera, Pascual (2014). A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems. In: "A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems", 27 - 30 May 2014, Orlando, FL, USA. ISBN 978-1-4799-2376-2. pp. 441-446.

Description

Title: A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems
Author/s:
  • Carrio Fernández, Adrián
  • Fu, Changhong
  • Pestana Puerta, Jesús
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems
Event Dates: 27 - 30 May 2014
Event Location: Orlando, FL, USA
Title of Book: 2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2014
ISBN: 978-1-4799-2376-2
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
UPM's Research Group: Computer Vision CVG
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The importance of vision-based systems for Sense-and-Avoid is increasing nowadays as remotely piloted and autonomous UAVs become part of the non-segregated airspace. The development and evaluation of these systems demand flight scenario images which are expensive and risky to obtain. Currently Augmented Reality techniques allow the compositing of real flight scenario images with 3D aircraft models to produce useful realistic images for system development and benchmarking purposes at a much lower cost and risk. With the techniques presented in this paper, 3D aircraft models are positioned firstly in a simulated 3D scene with controlled illumination and rendering parameters. Realistic simulated images are then obtained using an image processing algorithm which fuses the images obtained from the 3D scene with images from real UAV flights taking into account on board camera vibrations. Since the intruder and camera poses are user-defined, ground truth data is available. These ground truth annotations allow to develop and quantitatively evaluate aircraft detection and tracking algorithms. This paper presents the software developed to create a public dataset of 24 videos together with their annotations and some tracking application results.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010-20751-C02-0CICYTUnspecifiedUnspecified
Government of SpainTSI-020100-2011-363UnspecifiedUnspecifiedE-Vision Project

More information

Item ID: 37648
DC Identifier: http://oa.upm.es/37648/
OAI Identifier: oai:oa.upm.es:37648
Deposited by: Memoria Investigacion
Deposited on: 14 Sep 2015 18:43
Last Modified: 06 Jun 2016 15:00
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