论文标题
无人驾驶飞机挖掘，跟踪和运动控制的立体声愿景
Stereo Vision for Unmanned Aerial VehicleDetection, Tracking, and Motion Control
论文作者
论文摘要
提出了一种检测无人机（UAV）的创新方法。这项研究的目的是为自主多旋转猎人无人机开发可靠的设置，能够在视觉上检测和跟踪入侵者无人机进行实时运动计划。该系统由两个部分组成：使用立体声摄像机的对象检测来生成3D点云数据和视频跟踪，以应用Kalman过滤器进行无人机运动建模。发现后，猎人可以瞄准并在入侵者处射出一个束缚的网，以中和。可以在安装在猎人无人机上的便携式计算机上实现计算机视觉，运动跟踪和计划算法。
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for real-time motion planning. The system consists of two parts: object detection using a stereo camera to generate 3D point cloud data and video tracking applying a Kalman filter for UAV motion modeling. After detection, the hunter can aim and shoot a tethered net at the intruder to neutralize it. The computer vision, motion tracking, and planning algorithms can be implemented on a portable computer installed on the hunter UAV.
