A method for unmanned rotorcraft to detect circular markers

Yuan Ma; Feng Pan; Haijun Su; Weixing Li; Qi Gao

doi:10.1109/ChiCC.2014.6895743

A method for unmanned rotorcraft to detect circular markers

Yuan Ma^*, Feng Pan, Haijun Su, Weixing Li, Qi Gao

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Detection of circular markers in a complex environment is an important task for the unmanned rotorcraft. In this paper, according to the analysis and comparison of computational complexity, noise sensitivity and detection accuracy between the standard Hough transform (SHT) and the gradient Hough transform (GHT) algorithm, it is proposed a hybrid algorithm for circular markers detection (HA-CMD) which balances the constraint of computational capability of the embedded system and the requirement of detection accuracy. Corresponding to the altitude, there are two strategies utilized, that, the adaptive radius algorithm combined with SHT and cluster analysis is applied in the high-altitude recognition area, moreover, the former circular tracking technique combined with GHT is introduced to reduce misjudgment in the low-altitude area. The proposed algorithm is tested on an unmanned rotorcraft. The experiment results demonstrate the effectiveness and show an effectively balance.

Original language	English
Title of host publication	Proceedings of the 33rd Chinese Control Conference, CCC 2014
Editors	Shengyuan Xu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	4758-4762
Number of pages	5
ISBN (Electronic)	9789881563842
DOIs	https://doi.org/10.1109/ChiCC.2014.6895743
Publication status	Published - 11 Sept 2014
Event	Proceedings of the 33rd Chinese Control Conference, CCC 2014 - Nanjing, China Duration: 28 Jul 2014 → 30 Jul 2014

Publication series

Name	Proceedings of the 33rd Chinese Control Conference, CCC 2014
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	Proceedings of the 33rd Chinese Control Conference, CCC 2014
Country/Territory	China
City	Nanjing
Period	28/07/14 → 30/07/14

Keywords

Circle detection
Gradient Hough transform (GHT)
Standard Hough transform (SHT)
Unmanned rotorcraft

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10.1109/ChiCC.2014.6895743

Cite this

@inproceedings{11182743662d4cbfb4e9ae9174a61b85,

title = "A method for unmanned rotorcraft to detect circular markers",

abstract = "Detection of circular markers in a complex environment is an important task for the unmanned rotorcraft. In this paper, according to the analysis and comparison of computational complexity, noise sensitivity and detection accuracy between the standard Hough transform (SHT) and the gradient Hough transform (GHT) algorithm, it is proposed a hybrid algorithm for circular markers detection (HA-CMD) which balances the constraint of computational capability of the embedded system and the requirement of detection accuracy. Corresponding to the altitude, there are two strategies utilized, that, the adaptive radius algorithm combined with SHT and cluster analysis is applied in the high-altitude recognition area, moreover, the former circular tracking technique combined with GHT is introduced to reduce misjudgment in the low-altitude area. The proposed algorithm is tested on an unmanned rotorcraft. The experiment results demonstrate the effectiveness and show an effectively balance.",

keywords = "Circle detection, Gradient Hough transform (GHT), Standard Hough transform (SHT), Unmanned rotorcraft",

author = "Yuan Ma and Feng Pan and Haijun Su and Weixing Li and Qi Gao",

note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",

year = "2014",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2014.6895743",

language = "English",

series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",

publisher = "IEEE Computer Society",

pages = "4758--4762",

editor = "Shengyuan Xu and Qianchuan Zhao",

booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",

address = "United States",

}

Ma, Y, Pan, F, Su, H, Li, W & Gao, Q 2014, A method for unmanned rotorcraft to detect circular markers. in S Xu & Q Zhao (eds), Proceedings of the 33rd Chinese Control Conference, CCC 2014., 6895743, Proceedings of the 33rd Chinese Control Conference, CCC 2014, IEEE Computer Society, pp. 4758-4762, Proceedings of the 33rd Chinese Control Conference, CCC 2014, Nanjing, China, 28/07/14. https://doi.org/10.1109/ChiCC.2014.6895743

A method for unmanned rotorcraft to detect circular markers. / Ma, Yuan; Pan, Feng; Su, Haijun et al.
Proceedings of the 33rd Chinese Control Conference, CCC 2014. ed. / Shengyuan Xu; Qianchuan Zhao. IEEE Computer Society, 2014. p. 4758-4762 6895743 (Proceedings of the 33rd Chinese Control Conference, CCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A method for unmanned rotorcraft to detect circular markers

AU - Ma, Yuan

AU - Pan, Feng

AU - Su, Haijun

AU - Li, Weixing

AU - Gao, Qi

PY - 2014/9/11

Y1 - 2014/9/11

N2 - Detection of circular markers in a complex environment is an important task for the unmanned rotorcraft. In this paper, according to the analysis and comparison of computational complexity, noise sensitivity and detection accuracy between the standard Hough transform (SHT) and the gradient Hough transform (GHT) algorithm, it is proposed a hybrid algorithm for circular markers detection (HA-CMD) which balances the constraint of computational capability of the embedded system and the requirement of detection accuracy. Corresponding to the altitude, there are two strategies utilized, that, the adaptive radius algorithm combined with SHT and cluster analysis is applied in the high-altitude recognition area, moreover, the former circular tracking technique combined with GHT is introduced to reduce misjudgment in the low-altitude area. The proposed algorithm is tested on an unmanned rotorcraft. The experiment results demonstrate the effectiveness and show an effectively balance.

AB - Detection of circular markers in a complex environment is an important task for the unmanned rotorcraft. In this paper, according to the analysis and comparison of computational complexity, noise sensitivity and detection accuracy between the standard Hough transform (SHT) and the gradient Hough transform (GHT) algorithm, it is proposed a hybrid algorithm for circular markers detection (HA-CMD) which balances the constraint of computational capability of the embedded system and the requirement of detection accuracy. Corresponding to the altitude, there are two strategies utilized, that, the adaptive radius algorithm combined with SHT and cluster analysis is applied in the high-altitude recognition area, moreover, the former circular tracking technique combined with GHT is introduced to reduce misjudgment in the low-altitude area. The proposed algorithm is tested on an unmanned rotorcraft. The experiment results demonstrate the effectiveness and show an effectively balance.

KW - Circle detection

KW - Gradient Hough transform (GHT)

KW - Standard Hough transform (SHT)

KW - Unmanned rotorcraft

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U2 - 10.1109/ChiCC.2014.6895743

DO - 10.1109/ChiCC.2014.6895743

M3 - Conference contribution

AN - SCOPUS:84907923320

T3 - Proceedings of the 33rd Chinese Control Conference, CCC 2014

SP - 4758

EP - 4762

BT - Proceedings of the 33rd Chinese Control Conference, CCC 2014

A2 - Xu, Shengyuan

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - Proceedings of the 33rd Chinese Control Conference, CCC 2014

Y2 - 28 July 2014 through 30 July 2014

ER -

A method for unmanned rotorcraft to detect circular markers

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