On Onboard LiDAR-Based Flying Object Detection

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multirobot interaction is presented in this article. The approach is proposed for use on board of autonomous aerial vehicles equipped with a 3-D Li...

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Published in:IEEE transactions on robotics Vol. 41; pp. 593 - 611
Main Authors: Vrba, Matous, Walter, Viktor, Pritzl, Vaclav, Pliska, Michal, Baca, Tomas, Spurny, Vojtech, Hert, Daniel, Saska, Martin
Format: Journal Article
Language:English
Published: IEEE 01.01.2025
Subjects:
Accuracy
Aerial systems
autonomous aerial interception
Autonomous aerial vehicles
Detectors
Laser radar
Location awareness
multirobot systems
object detection
perception and autonomy
Point cloud compression
Robot sensing systems
Robots
segmentation and categorization
Target tracking
Three-dimensional displays
ISSN:1552-3098, 1941-0468
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Abstract A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multirobot interaction is presented in this article. The approach is proposed for use on board of autonomous aerial vehicles equipped with a 3-D LiDAR sensor. It relies on a novel 3-D occupancy voxel mapping method for the target detection that provides high localization accuracy and robustness with respect to varying environments and appearance changes of the target. In combination with a proposed cluster-based multitarget tracker, sporadic false positives are suppressed, state estimation of the target is provided, and the detection latency is negligible. This makes the system suitable for tasks of agile multirobot interaction, such as autonomous aerial interception or formation control where fast, precise, and robust relative localization of other robots is crucial. We evaluate the viability and performance of the system in simulated and real-world experiments which demonstrate that at a range of <inline-formula><tex-math notation="LaTeX">\text{20} \,\text{m}</tex-math></inline-formula>, our system is capable of reliably detecting a microscale UAV with an almost <inline-formula><tex-math notation="LaTeX">\text{100} \%</tex-math></inline-formula> recall, <inline-formula><tex-math notation="LaTeX">\text{0.2} \,\text{m}</tex-math></inline-formula> accuracy, and <inline-formula><tex-math notation="LaTeX">\text{20} \,\text{ms}</tex-math></inline-formula> delay.
AbstractList A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multirobot interaction is presented in this article. The approach is proposed for use on board of autonomous aerial vehicles equipped with a 3-D LiDAR sensor. It relies on a novel 3-D occupancy voxel mapping method for the target detection that provides high localization accuracy and robustness with respect to varying environments and appearance changes of the target. In combination with a proposed cluster-based multitarget tracker, sporadic false positives are suppressed, state estimation of the target is provided, and the detection latency is negligible. This makes the system suitable for tasks of agile multirobot interaction, such as autonomous aerial interception or formation control where fast, precise, and robust relative localization of other robots is crucial. We evaluate the viability and performance of the system in simulated and real-world experiments which demonstrate that at a range of <inline-formula><tex-math notation="LaTeX">\text{20} \,\text{m}</tex-math></inline-formula>, our system is capable of reliably detecting a microscale UAV with an almost <inline-formula><tex-math notation="LaTeX">\text{100} \%</tex-math></inline-formula> recall, <inline-formula><tex-math notation="LaTeX">\text{0.2} \,\text{m}</tex-math></inline-formula> accuracy, and <inline-formula><tex-math notation="LaTeX">\text{20} \,\text{ms}</tex-math></inline-formula> delay.
Author Baca, Tomas
Vrba, Matous
Walter, Viktor
Hert, Daniel
Spurny, Vojtech
Pritzl, Vaclav
Pliska, Michal
Saska, Martin
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Snippet A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile...
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SubjectTerms Accuracy
Aerial systems
autonomous aerial interception
Autonomous aerial vehicles
Detectors
Laser radar
Location awareness
multirobot systems
object detection
perception and autonomy
Point cloud compression
Robot sensing systems
Robots
segmentation and categorization
Target tracking
Three-dimensional displays
Title On Onboard LiDAR-Based Flying Object Detection
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