research-article

Research on UAV Obstacle Detection based on Data Fusion of Millimeter Wave Radar and Monocular Camera

Authors:

Xiyue Wang,

Xinsheng Wang,

Zhiquan Zhou,

Junjie LiAuthors Info & Claims

CNIOT '21: Proceedings of the 2021 2nd International Conference on Computing, Networks and Internet of Things

Article No.: 17, Pages 1 - 6

https://doi.org/10.1145/3468691.3468708

Published: 07 August 2021 Publication History

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Abstract

Abstract—Obstacle avoidance detection of small UAVs has been a challenging problem because of size and weight constraints. In this paper, a fusion of MMW and monocular camera data is proposed for small UAVs obstacle detection systems. A MMW sensor is used to detect distance and angle and the image of obtacles capturing by the camera. Next, the target point information detected by MMW is calibrated into the image to complete the data fusion. Then, the optimized edge detection algorithm and image grayscale frequency saliency map are used to segment the obstacle area in images. The proposed method was evaluated by experiments in a real flying environment which consist of obstacles with textures and shadows. In the experiments, we successfully detect the shape of obstacles for complex situations. Obstacles with complex textures and shadows can be effectively detected, which shows that the method has good robustness.

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Cited By

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Feng JLiang XWu Y(2022)Data Fusion-Based Obstacle Detection for Rail Transit ScenariosSAE Technical Paper Series10.4271/2022-01-7027Online publication date: 28-Jun-2022
https://doi.org/10.4271/2022-01-7027
Wang KWang ZYang YLi XYang WWang CWang X(2022)An Imaging Algorithm for Obstacle Detection of Tunnel Horizontal Transporter Based on Millimeter Wave Radar2022 4th International Academic Exchange Conference on Science and Technology Innovation (IAECST)10.1109/IAECST57965.2022.10062270(1388-1393)Online publication date: 9-Dec-2022
https://doi.org/10.1109/IAECST57965.2022.10062270
Shouyong FJimin ZLichao XZhenhai ZJinnan L(2021)Rail Identification Using Camera and Millimeter-Wave Radar Data2021 International Conference on Information Technology and Biomedical Engineering (ICITBE)10.1109/ICITBE54178.2021.00041(150-154)Online publication date: Dec-2021
https://doi.org/10.1109/ICITBE54178.2021.00041

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CNIOT '21: Proceedings of the 2021 2nd International Conference on Computing, Networks and Internet of Things

May 2021

270 pages

ISBN:9781450389693

DOI:10.1145/3468691

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Published: 07 August 2021

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CNIOT2021

CNIOT2021: 2021 2nd International Conference on Computing, Networks and Internet of Things

May 20 - 22, 2021

Beijing, China

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Feng JLiang XWu Y(2022)Data Fusion-Based Obstacle Detection for Rail Transit ScenariosSAE Technical Paper Series10.4271/2022-01-7027Online publication date: 28-Jun-2022
https://doi.org/10.4271/2022-01-7027
Wang KWang ZYang YLi XYang WWang CWang X(2022)An Imaging Algorithm for Obstacle Detection of Tunnel Horizontal Transporter Based on Millimeter Wave Radar2022 4th International Academic Exchange Conference on Science and Technology Innovation (IAECST)10.1109/IAECST57965.2022.10062270(1388-1393)Online publication date: 9-Dec-2022
https://doi.org/10.1109/IAECST57965.2022.10062270
Shouyong FJimin ZLichao XZhenhai ZJinnan L(2021)Rail Identification Using Camera and Millimeter-Wave Radar Data2021 International Conference on Information Technology and Biomedical Engineering (ICITBE)10.1109/ICITBE54178.2021.00041(150-154)Online publication date: Dec-2021
https://doi.org/10.1109/ICITBE54178.2021.00041

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Autonomous Obstacle Avoidance for UAV based on Fusion of Radar and Monocular Camera

A navigation system based upon panoramic representation

Research Progress of Obstacle Detection Based on Monocular Vision

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