Memorias de investigación
Ponencias en congresos:
A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems
Año:2014
Áreas de investigación
  • Percepción visual,
  • Robots aéreos,
  • Robots autónomos,
  • Robots de inspección,
  • Percepción,
  • Inspección visual,
  • Visión en tiempo-real
Datos
Descripción
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.
Internacional
Si
Nombre congreso
International Conference on Unmanned Aircraft Systems (ICUAS)
Tipo de participación
960
Lugar del congreso
Orlando, FL
Revisores
Si
ISBN o ISSN
978-1-4799-2376-2
DOI
10.1109/ICUAS.2014.6842284
Fecha inicio congreso
27/05/2014
Fecha fin congreso
30/05/2014
Desde la página
441
Hasta la página
446
Título de las actas
A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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