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- Publisher Website: 10.1109/TMECH.2023.3289180
- Scopus: eid_2-s2.0-85164688094
- WOS: WOS:001030653900001
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Article: Flying in Dynamic Scenes With Multitarget Velocimetry and Perception-Enhanced Planning
Title | Flying in Dynamic Scenes With Multitarget Velocimetry and Perception-Enhanced Planning |
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Authors | |
Keywords | Autonomous navigation Cameras Detectors Drones dynamic obstacle Heuristic algorithms Navigation object tracking point cloud Target tracking Vehicle dynamics |
Issue Date | 11-Jul-2023 |
Publisher | Institute of Electrical and Electronics Engineers |
Citation | IEEE/ASME Transactions on Mechatronics, 2023, v. 29, n. 1, p. 521-532 How to Cite? |
Abstract | Micro drones have been widely applied in applications, such as aerial cinematography and environment exploration. Due to the presence of numerous demanding scenes, such as crowded obstacles and dynamic objects, remotely controlling a drone poses a significant challenge for humans. As a result, there is an urgent need for highly autonomous flight capabilities. This article presents a fully autonomous flight system in a complex dynamic environment, showing satisfactory performance in real-world tests, and outperforms the state-of-the-art works in both dynamic object perception, and flight safety and efficiency. A lightweight but effective multiobject velocimetry based on a cross-correlation algorithm and local points feature is proposed, with a robust image-based object classifier as the front end. Also, we plan the flight trajectory considering the camera's field of view and the uncertainty in the dynamic object's constant velocity model. At last, we further explore the benefits of vehicle's active yaw control for improving perception quality and flight safety. |
Persistent Identifier | http://hdl.handle.net/10722/339576 |
ISSN | 2021 Impact Factor: 5.867 2020 SCImago Journal Rankings: 1.935 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Chen, Han | - |
dc.contributor.author | Wen, Chih-Yung | - |
dc.contributor.author | Gao, Fei | - |
dc.contributor.author | Lu, Peng | - |
dc.date.accessioned | 2024-03-11T10:37:45Z | - |
dc.date.available | 2024-03-11T10:37:45Z | - |
dc.date.issued | 2023-07-11 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, 2023, v. 29, n. 1, p. 521-532 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10722/339576 | - |
dc.description.abstract | <p>Micro drones have been widely applied in applications, such as aerial cinematography and environment exploration. Due to the presence of numerous demanding scenes, such as crowded obstacles and dynamic objects, remotely controlling a drone poses a significant challenge for humans. As a result, there is an urgent need for highly autonomous flight capabilities. This article presents a fully autonomous flight system in a complex dynamic environment, showing satisfactory performance in real-world tests, and outperforms the state-of-the-art works in both dynamic object perception, and flight safety and efficiency. A lightweight but effective multiobject velocimetry based on a cross-correlation algorithm and local points feature is proposed, with a robust image-based object classifier as the front end. Also, we plan the flight trajectory considering the camera's field of view and the uncertainty in the dynamic object's constant velocity model. At last, we further explore the benefits of vehicle's active yaw control for improving perception quality and flight safety.<br></p> | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | - |
dc.subject | Autonomous navigation | - |
dc.subject | Cameras | - |
dc.subject | Detectors | - |
dc.subject | Drones | - |
dc.subject | dynamic obstacle | - |
dc.subject | Heuristic algorithms | - |
dc.subject | Navigation | - |
dc.subject | object tracking | - |
dc.subject | point cloud | - |
dc.subject | Target tracking | - |
dc.subject | Vehicle dynamics | - |
dc.title | Flying in Dynamic Scenes With Multitarget Velocimetry and Perception-Enhanced Planning | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TMECH.2023.3289180 | - |
dc.identifier.scopus | eid_2-s2.0-85164688094 | - |
dc.identifier.volume | 29 | - |
dc.identifier.issue | 1 | - |
dc.identifier.spage | 521 | - |
dc.identifier.epage | 532 | - |
dc.identifier.eissn | 1941-014X | - |
dc.identifier.isi | WOS:001030653900001 | - |
dc.identifier.issnl | 1083-4435 | - |