Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems
Year:2014
Research Areas
  • Visual perception,
  • Aerial robots,
  • Autonomic robots,
  • Inspection robots,
  • Perception,
  • Visual inspection,
  • Vision on real-time
Information
Abstract
The importance of vision-based systems for Sense-and-Avoid is increasing nowadays as remotely piloted and autonomous UAVs become part of the non-segregated airspace. The development and evaluation of these systems demand flight scenario images which are expensive and risky to obtain. Currently Augmented Reality techniques allow the compositing of real flight scenario images with 3D aircraft models to produce useful realistic images for system development and benchmarking purposes at a much lower cost and risk. With the techniques presented in this paper, 3D aircraft models are positioned firstly in a simulated 3D scene with controlled illumination and rendering parameters. Realistic simulated images are then obtained using an image processing algorithm which fuses the images obtained from the 3D scene with images from real UAV flights taking into account on board camera vibrations. Since the intruder and camera poses are user-defined, ground truth data is available. These ground truth annotations allow to develop and quantitatively evaluate aircraft detection and tracking algorithms. This paper presents the software developed to create a public dataset of 24 videos together with their annotations and some tracking application results.
International
Si
Congress
International Conference on Unmanned Aircraft Systems (ICUAS)
960
Place
Orlando, FL
Reviewers
Si
ISBN/ISSN
978-1-4799-2376-2
10.1109/ICUAS.2014.6842284
Start Date
27/05/2014
End Date
30/05/2014
From page
441
To page
446
A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems
Participants
  • Autor: Adrián Carrió Fernández (UPM)
  • Autor: Changhong Fu (UPM)
  • Autor: Jesus Pestana Puerta (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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