Cascade Improved Visual Detection and Distance Estimation in Formation of Micro Unmanned Aerial Vehicles

Jiankun Sun, Yanxuan Wu*, Xutan Lu, Yunduo Feng

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

According to the localization of UAVs in formation, this paper has proposed a visual based method using cascade classifiers of LBP and Haar-like features to realize UAVs’ detection and distance estimation. Since the phenomenon of overlapping in formation has an obvious influence on the performance of detection, this paper adopts the method of integrating two classifiers with different features (LBP and Haar) to improve the performance of detector. For the purpose of enhancing the precision of distance estimation, an optimized method is proposed based on the prediction of UAV’s attitude. The description of coordination is deducted to obtain accurately relative position from visual information. The results of test videos verify the performance of proposed method on the application of UAVs formation.

Original languageEnglish
Title of host publicationProceedings of the 11th International Conference on Modelling, Identification and Control, ICMIC 2019
EditorsRui Wang, Zengqiang Chen, Weicun Zhang, Quanmin Zhu
PublisherSpringer
Pages755-765
Number of pages11
ISBN (Print)9789811504730
DOIs
Publication statusPublished - 2020
Event11th International Conference on Modelling, Identification and Control, ICMIC 2019 - Tianjin, China
Duration: 13 Jul 201915 Jul 2019

Publication series

NameLecture Notes in Electrical Engineering
Volume582
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference11th International Conference on Modelling, Identification and Control, ICMIC 2019
Country/TerritoryChina
City Tianjin
Period13/07/1915/07/19

Keywords

  • Cascade
  • Localization
  • UAVs formation

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Cite this

Sun, J., Wu, Y., Lu, X., & Feng, Y. (2020). Cascade Improved Visual Detection and Distance Estimation in Formation of Micro Unmanned Aerial Vehicles. In R. Wang, Z. Chen, W. Zhang, & Q. Zhu (Eds.), Proceedings of the 11th International Conference on Modelling, Identification and Control, ICMIC 2019 (pp. 755-765). (Lecture Notes in Electrical Engineering; Vol. 582). Springer. https://doi.org/10.1007/978-981-15-0474-7_71