See and Avoid Using Onboard Computer Vision

Sense and Avoid in UAS: Research and Applications

Volumn , Issue , 2012, Pages 265-294

  Lai, John ^a   Ford, Jason J ^a   Mejias, Luis ^a   O'Shea, Peter ^a   Walker, Rod ^a  

^a QUEENSLAND UNIVERSITY OF TECHNOLOGY   (Australia)

Author keywords

Cessna system architecture; Detection and tracking, two stage detection; Hardware technology, platform integration; Image stabilization; Non cooperative collision avoidance, for UAVs; See and Avoid using onboard computer vision; Target tracking; Visual EO airborne collision detection

Indexed keywords

EID: 84873426146     PISSN: None     EISSN: None     Source Type: Book    
DOI: 10.1002/9781119964049.ch10     Document Type: Chapter

References (62)

1. M. DeGarmo, "Issues concerning integration of unmanned aerial vehicles in civil airspace", 2004.
2. US Army UAS Center of Excellence, " "Eyes of the Army" U.S. Army Roadmap for Unmanned Aircraft Systems 2010-2035", 2010.
3. W. Graham and R. H. Orr, "Separation of air traffic by visual means: an estimate of the effectiveness of the see-and-avoid doctrine", Proceedings of the IEEE, pp. 337-361, March 1970.
4. P. Zarchan, Tactical and Strategic Missile Guidance, 4th edn. American Institute of Aeronautics and Astronautics, Reston, VA, 2002.
5. N. Shneydor, Missile Guidance and Pursuit: Kinematics, Dynamics and Control, Horwood Publishing, Chichester, 1998.
6. Australian Transport Safety Bureau, "Limitations of the See-and-Avoid Principle", 1991.
7. T. Williamson and N. Spencer, "Development and operation of the Traffic Alert and Collision Avoidance System (TCAS)", Proceedings of the IEEE, 77(11), 1735-1744, 1989.
8. International Civil Aviation Organization, "Annex 6 to the Convention on International Civil Aviation - Operation of Aircraft - Part I - International Commercial Air Transport - Aeroplanes", in Annexes to the Convention on International Civil Aviation, pp. 6-10, 2001.
9. Forecast International [Online], www.forecastinternational.com/Archive/es/es0077.doc, January 2007.
10. Office of the Secretary of Defense, "Airspace Integration Plan for Unmanned Aviation", 2004.
11. J. Lai, L. Mejias, and J. J. Ford, "Airborne vision-based collision-detection system", Journal of Field Robotics, 28(2), 137-157, 2011.
12. C. Geyer, S. Singh, and L. Chamberlain, "Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs operating in Civilian Airspace", Robotics Institute, 2008.
13. G. Fasano et al., "Multi-sensor-based fully autonomous non-cooperative collision avoidance system for unmanned air vehicles", Journal of Aerospace Computing, Information, and Communication, 5, 338-360, 2008.
14. Y. Bar-Shalom, H. M. Shertukde, and K. R. Pattipati, "Use of measurements from an imaging sensor for precision target tracking", IEEE Transactions on Aerospace and Electronic Systems, 25(6), 863-872, 1989.
15. J. Lai and J. J. Ford, "Relative entropy rate based multiple hidden Markov model approximation", IEEE Transactions on Signal Processing, 58(1), 165-174, 2010.
16. J. Keller, Military and Aerospace Electronics [Online], http://www.militaryaerospace.com/index/display/mae-defense-executive-article-display/0220059175/articles/military-aerospace-electronics/executive-watch-2/2010/10/sierra-nevada_corp.html, October 2010.
17. B. Karhoff, J. Limb, S. Oravsky, and A. Shephard, "Eyes in the domestic sky: an assessment of sense and avoid technology for the army"s "Warrior" unmanned aerial vehicle", in Proceedings of the IEEE Systems and Information Engineering Design Symposium, Charlottesville, VA, pp. 36-42, 2006.
18. D. Maroney, R. Bolling, M. Heffron, and G. Flathers, "Experimental platforms for evaluating sensor technology for UAS collision avoidance", in Proceedings of the IEEE/AIAA Digital Avionics Systems Conference, Dallas, TX, pp. 5C1-1-5C1-9, 2007.
19. W. Rosenkrans, "Detect, sense and avoid", AeroSafety World, pp. 34-39, July 2008.
20. J. Arnold, S. Shaw, and H. Pasternack, "Efficient target tracking using dynamic programming", IEEE Transactions on Aerospace and Electronic Systems, 29(1), pp. 44-56, 1993.
21. Y. Barniv, "Dynamic programming solution for detecting dim moving targets", IEEE Transactions on Aerospace and Electronic Systems, AES-21(1), 144-156, 1985.
22. T. Gandhi et al., "Detection of obstacles in the flight path of an aircraft", IEEE Transactions on Aerospace and Electronic Systems, AES-39(1), 176-191, 2003.
23. T. Gandhi et al., "Performance characterization of the dynamic programming obstacle detection algorithm", IEEE Transactions on Image Processing, 15(5), 1202-1214, 2006.
24. S. D. Deshpande, M. H. Er, R. Venkateswarlu, and P. Chan, "Max-mean and max-median filters for detection of small targets", in Proceedings of the Signal and Data Processing of Small Targets, Denver, CO, pp. 74-83, 1999.
25. E. R. Dougherty and R. A. Lotufo, Hands-on Morphological Image Processing, SPIE Optical Engineering Press, Bellingham, MA, 2003.
26. L. JiCheng, S. ZhengKang, and L. Tao, "Detection of spot target in infrared cluster with morphological filter", in Proceedings of the IEEE National Aerospace and Electronics Conference, Dayton,OH, pp. 168-172, 1996.
27. Z. Zhu, Z. Li, H. Liang, B. Song, and A. Pan, "Grayscale morphological filter for small target detection", in Proceedings of the SPIE International Symposium on Optical Science and Technology: Infrared Technology and Applications, San Diego, CA, pp. 28-34, 2000.
28. M. Zeng, J. Li, and Z. Peng, "The design of top-hat morphological filter and application to infrared target detection", Infrared Physics & Technology, 48(1), 67-76, 2006.
29. N. Yu, H. Wu, C. Wu, and Y. Li, "Automatic target detection by optimal morphological filters", Journal of Computer Science and Technology, 18(1), 29-40, 2003.
30. R. Carnie, R. Walker, and P. Corke, "Image processing algorithms for UAV "Sense and Avoid" ", in Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, pp. 2848-2853, 2006.
31. S. J. Davey, M. G. Rutten, and B. Cheung, "A comparison of detection performance for several track-before-detect algorithms", EURASIP Journal on Advances in Signal Processing, 2008, 1-10, 2008.
32. S. M. Tonissen and R. J. Evans, "Performance of dynamic programming techniques for trackbefore-detect", IEEE Transactions on Aerospace and Electronic Systems, 32(4), 1440-1451, 1996.
33. M. G. S. Bruno, "Bayesian methods for multiaspect target tracking in image sequences", IEEE Transactions on Image Processing, 52(7), 1848-1861, 2004.
34. M. G. S. Bruno and J. M. F. Moura, "Multiframe detector/tracker: optimal performance", IEEE Transactions on Aerospace and Electronic Systems, 37(3), 925-945, 2001.
35. M. G. S. Bruno and J. M. F. Moura, "The optimal 2D multiframe detector/tracker", International Journal of Electronics and Communications, 53(6), 1-17, 1999.
36. G. D. Forney Jr., "The Viterbi algorithm", Proceedings of the IEEE, 61(3), 268-278, 1973.
37. L. Mejias, S. McNamara, and J. Lai, "Vision-based detection and tracking of aerial targets for UAV collision avoidance", in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, 2010.
38. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd edn, Cambridge University Press, New York, 2004.
39. Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry, An Invitation to 3-D Vision: From Images to Geometric Models, Springer-Verlag, New York, 2004.
40. J.-Y. Chang, W.-F. Hu, M.-H. Cheng, and B.-S. Chang, "Digital image translational and rotational motion stabilization using optical flow technique", IEEE Transactions on Consumer Electronics, 108-115, 2002.
41. A. Censi, A. Fusiello, and V. Roberto, "Image stabilization by features tracking", in Proceedings of the International Conference on Image Analysis and Processing, Venice, pp. 665-667, 1999.
42. V.-N. Dang, A.-R. Mansouri, and J. Konrad, "Motion estimation for region-based video coding", in Proceedings of the Inernational Conference on Image Processing, Washington, DC, pp. 189-192, 1995.
43. S. Erturk and T. J. Dennis, "Image sequence stabilisation based on DFT filtering", IEE Proceedings on Vision, Image and Signal Processing, 147 (2), 95-102, 2000.
44. B. K. P. Horn and B. G. Schunck, "Determining optical flow", Artificial Intelligence, 17(1-3), 185-203, 1981.
45. G. Ren, P. Li, and G. Wang, "A novel hybrid coarse-to-fine digital image stabilization algorithm", Information Technology Journal, 9(7), 1390-1396, 2010.
46. S. B. Balakirsky and R. Chellappa, "Performance characterization of image stabilization algorithms", Real-Time Imaging, 2(5), 297-313, 1996.
47. J.-P. Serra, Image Analysis and Mathematical Morphology, Academic Press, New York, 1982.
48. R. C. Gonzalez, R. E. Woods, and S. L. Eddins, "Morphological image processing", in Digital Image Processing Using MATLAB, Pearson-Prentice Hall, Upper Saddle River, NJ, pp. 334-377, 2004.
49. D. Casasent and A. Ye, "Detection filters and algorithm fusion for ATR", IEEE Transactions on Image Processing, 6(1), 114-125, 1997.
50. C. Geyer, D. Dey, and S. Singh, "Prototype Sense-and-Avoid System for UAVs", Robotics Institute, 2009.
51. P. Soille, "Opening and closing", in Morphological Image Analysis: Principles and Applications, Springer, Berlin, pp. 105-137, 2003.
52. R. J. Elliott, L. Aggoun, and J. B. Moore, in B. Rozovskii and G. Grimmett (eds), Hidden Markov Models: Estimation and Control, Springer, Berlin, 1995.
53. Y. Bar-Shalom, X.-R. Li, and T. Kirubarajan, Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software, John Wiley & Sons, New York, 2001.
54. Y. Bar-Shalom and T. E. Fortmann, Tracking and Data Association, Academic Press, Boston, 1988.
55. A. C. Sanderson and L. E.Weiss, "Adaptive visual servo control of robots", in A. Pugh (ed.), Robot Vision, IFS Publications, pp. 107-116, 1983.
56. M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, John Wiley & Sons, Hoboken, NJ, 2006.
57. F. Chaumette and S. Hutchinson, "Visual servoing and visual tracking", in B. Siciliano and O. Khatib (eds), Handbook of Robotics, Springer, Berlin, pp. 563-582, 2008.
58. B. Young, Silvertone UAV [Online], http://www.silvertoneuav.com, March 2011.
59. D. Greer, R. Mudford, D. Dusha, and R. Walker, "Airborne systems laboratory for automation research", in Proceedings of the International Congress of the Aeronautical Sciences, Nice, pp. 1-9, 2010.
60. Stratasys, "Dimension BST 768/SST 768 User Guide", 2006.
61. NVIDIA, "NVIDIA CUDA C Programming Guide Version 3.2", 2010.
62. Federal Aviation Administration, "FAA Advisory Circular: Pilots" role in collision avoidance", 1983.