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In this paper an algorithm for distant aircraft detection for visual sense-and-avoid for UAV is presented. The algorithm uses local edge density to partition the frame into two types of regions. The first type is the unstructured or homogeneous part like sky region and the second part where there is a structured background, like high contrast clouds or terrain regions. The airplanes are detected on...
In this paper a novel algorithm for distant aircraft detection for visual sense-and-avoid for UAV is presented. The algorithm uses local edge density to partition the frame into two types of regions. The first type is the unstructured or homogeneous part like sky region and the second part where there is a structured background, like high contrast clouds or terrain regions. The airplanes are detected...
Autonomous UAVs need on-board vision system to be able to navigate, avoid collisions, and execute missions. Small UAVs can carry small form factor vision system with low power consumption due to natural payload limitations. Therefore it is a natural idea to use cellular sensor-processor arrays to implement the necessary vision functions. In this paper, we present a UAV collision warning algorithm...
Though UAVs can autonomously fly by using GPS based waypoint navigation, they are practically blind during these flights, therefore they are considered to be a risk factor to other aircrafts. Due to limited payloads of small and medium sized UAVs, small, low power focal-plane array processor based vision system would be a good candidate for identifying intruder aircrafts. Identification of remote...
Tracking multiple stationary environmental points from a moving platform vision system enables the calculation of the rotation and relative displacement components of the ego-motion. This is very useful for small autonomously moving robotic platforms, like a UAV, where this data can be either the primary or the auxiliary navigation information. In case of a high speed, light moving platform (like...
An interactive neuromorph model is constructed that combines the simulated optical imaging properties of the human eye with the region specific special sampling properties of the human retina. We need such a model to estimate the achievable visual acuity in different illuminating conditions depending on the actual optics of the eye. It is an essential modeling step as our goal is to investigate the...
This paper deals with the problem of trajectory tracking and definition in monocular vision based sense and avoid scenarios for small UAVs where the intruder aerial vehicle should be held in camera field of view. After defining effective field of view (EFOV) and introducing its possible calculation tracking of a triangular waveform trajectory by a conventional roll angle based tracker is examined...
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