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

Carrió Fernández, Adrián and Changhong, Fu and Collumeau, Jean-Françoise and 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.

Description

Title: SIGS: Synthetic Imagery Generating Software for the development and evaluation of vision-based sense-and-avoid systems
Author/s:
  • Carrió Fernández, Adrián
  • Changhong, Fu
  • Collumeau, Jean-Françoise
  • Campoy Cervera, Pascual
Item Type: Article
Título de Revista/Publicación: Journal of intelligent & robotic systems,
Date: 31 October 2015
ISSN: 0921-0296
Volume: 84
Subjects:
Freetext Keywords: Sense-And-Avoid Collision avoidance UAV
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010-20751-C02-01MICYTUnspecifiedUnspecified
Horizon 2020TSI-020100-2011-363EVPUnspecifiedUnspecified

More information

Item ID: 41460
DC Identifier: http://oa.upm.es/41460/
OAI Identifier: oai:oa.upm.es:41460
DOI: 10.1007/s10846-015-0286-z
Official URL: http://link.springer.com/article/10.1007/s10846-015-0286-z
Deposited by: Memoria Investigacion
Deposited on: 01 Apr 2017 11:57
Last Modified: 01 Apr 2017 11:57
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