SIGS: Synthetic Imagery Generating Software for the development and evaluation of vision-based sense-and-avoid systems

Carrió Fernández, Adrián; Changhong, Fu; Collumeau, Jean-Françoise y Campoy Cervera, Pascual (2015). SIGS: Synthetic Imagery Generating Software for the development and evaluation of vision-based sense-and-avoid systems. "Journal of intelligent & robotic systems,", v. 84 (n. 1); pp. 559-574. ISSN 0921-0296. https://doi.org/10.1007/s10846-015-0286-z.

Descripción

Título: SIGS: Synthetic Imagery Generating Software for the development and evaluation of vision-based sense-and-avoid systems
Autor/es:
  • Carrió Fernández, Adrián
  • Changhong, Fu
  • Collumeau, Jean-Françoise
  • Campoy Cervera, Pascual
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of intelligent & robotic systems,
Fecha: 31 Octubre 2015
Volumen: 84
Materias:
Palabras Clave Informales: Sense-And-Avoid Collision avoidance UAV
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (4MB) | Vista Previa

Resumen

Unmanned Aerial Systems (UASs) have recently become a versatile platform for many civilian applications including inspection, surveillance and mapping. Sense-and-Avoid systems are essential for the autonomous safe operation of these systems in non-segregated airspaces. Vision-based Sense-and-Avoid systems are preferred to other alternatives as their price, physical dimensions and weight are more suitable for small and medium-sized UASs, but obtaining real flight imagery of potential collision scenarios is hard and dangerous, which complicates the development of Vision-based detection and tracking algorithms. For this purpose, user-friendly software for synthetic imagery generation has been developed, allowing to blend user-defined flight imagery of a simulated aircraft with real flight scenario images to produce realistic images with ground truth annotations. These are extremely useful for the development and benchmarking of Vision-based detection and tracking algorithms at a much lower cost and risk. An image processing algorithm has also been developed for automatic detection of the occlusions caused by certain parts of the UAV which carries the camera. The detected occlusions can later be used by our software to simulate the occlusions due to the UAV that would appear in a real flight with the same camera setup. Additionally this algorithm could be used to mask out pixels which do not contain relevant information of the scene for the visual detection, making the image search process more efficient. Finally an application example of the imagery obtained with our software for the benchmarking of a state-of-art visual tracker is presented.

Proyectos asociados

TipoCódigoAcrónimoResponsableTítulo
Gobierno de EspañaDPI2010-20751-C02-01MICYTSin especificarSin especificar
Horizonte 2020TSI-020100-2011-363EVPSin especificarSin especificar

Más información

ID de Registro: 41460
Identificador DC: http://oa.upm.es/41460/
Identificador OAI: oai:oa.upm.es:41460
Identificador DOI: 10.1007/s10846-015-0286-z
URL Oficial: http://link.springer.com/article/10.1007/s10846-015-0286-z
Depositado por: Memoria Investigacion
Depositado el: 01 Abr 2017 11:57
Ultima Modificación: 01 Abr 2017 11:57
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM