Multi-stage Bayesian target estimation by UAV using fisheye lens camera and pan/tilt camera

Furukawa, Tomonari; Kang, Changkoo; Li, Boren; Dissanayake, Gamini

doi:10.1109/iros.2017.8206277

Cited by 3 publications

(2 citation statements)

References 12 publications

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“…RVS has already been widely used in surveillance pan-tilt-zoom (PTZ) cameras [1,2], unmanned aerial vehicle (UAV) aerial photography [3], articulated arm robot manipulator [4], etc. Based on these platforms, more potential and complicated applications can be executed like visual tracking [5,6] of moving objects and large field-of-view (FOV) contactless measurement, etc.…”

Section: Introductionmentioning

confidence: 99%

Geometric Calibration of Rotational Vision System for Dynamic Exterior Orientation

Qiu

Zhang

Xiong

et al. 2021

Preprint

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Rotational vision system (RVS) is a common type of active vision with only rotational freedom. Typically, the rotational freedom is provided by turntable and pan-tilt-zoom (PTZ). Or eye in hand (EIH) structure in an articulated arm robot. The ideal assumption that rotation axes are perfectly aligned with the coordinate axes of the local camera is mostly violated due to assembling deviations and limitations of manufacturing accuracy. To solve this problem, we propose a generalized deviation model for a specified rotation axis that relates the rotation motion of the platform to the exterior orientation (EO) of the camera. Based on it we put heuristic estimation algorithms through minimizing global reprojection error and fitting a circle in space respectively for rotating platform with or without accurate angle measurements with constrained global optimization. Implemented experiments on a servo pan-tilt turntable validate the accuracy and efficiency of the above models and calibration technique.

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Section: Introductionmentioning

confidence: 99%

Geometric Calibration of Rotational Vision System for Dynamic Exterior Orientation

Qiu

Zhang

Xiong

et al. 2021

Preprint

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“…Although those systems achieve satisfactory results, they can be used only in an indoor environment due to the limited distance measurement. To enlarge the surveillance range and improve the recycling capacity, various systems and solutions have been proposed in recent years [24]- [29]. Kim et al [30] present an autonomous vision-based net recovery system for small fixed-wing unmanned aerial vehicles.…”

Section: Introductionmentioning

confidence: 99%

Panoramic UAV Surveillance and Recycling System Based on Structure-Free Camera Array

Yang

Zhang

et al. 2019

IEEE Access

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In recent years, unmanned aerial vehicles (UAVs) have rapidly developed, but the illegal use of UAVs by civilians has resulted in disorder and security risks and has increasingly triggered the community concern and worry. Therefore, the monitoring and recycling of UAVs in key regions are of great significance. This paper presents novel panoramic UAV surveillance and autonomous recycling system that is based on the unique structure-free fisheye camera array and has the capability of real-time UAV detection, 3D localization, tracking, and recycling capacity over a very wide field of view. The main characteristics of this paper include the following: 1) constructing a structure-free camera-array-based panoramic UAV surveillance and recycling system; 2) designing a robust dynamic near-infrared laser-source-based self-calibration algorithm for large-scale arbitrary layout of the camera array; and 3) presenting a set of UAV detection, 3D localization, tracking, and autonomous recycling algorithms based on a fish-eye camera array. The system has been tested in various challenging scenarios, including multiple UAVs with significant appearance and scale changes and even poor weather conditions. The extensive experimental results analyzed both qualitatively and quantitatively, and the analysis of the time performance demonstrate the robustness and effectiveness of the proposed system. In addition, we successfully conduct a recycling and landing experiment with the Parrot Beobop. INDEX TERMS UAV, structure-free fisheye camera array, surveillance and recycling system.

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Active Perception for Outdoor Localisation with an Omnidirectional Camera

Jayasuriya

Ranasinghe

Dissanayake

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Multi-stage Bayesian target estimation by UAV using fisheye lens camera and pan/tilt camera

Cited by 3 publications

References 12 publications

Geometric Calibration of Rotational Vision System for Dynamic Exterior Orientation

Geometric Calibration of Rotational Vision System for Dynamic Exterior Orientation

Panoramic UAV Surveillance and Recycling System Based on Structure-Free Camera Array

Active Perception for Outdoor Localisation with an Omnidirectional Camera

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