Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle
Ground target detection and positioning systems based on lightweight unmanned aerial vehicles (UAVs) are increasing in value for aerial reconnaissance and surveillance. However, the current method for estimating the target’s position is limited by the field of view angle, rendering it challenging to...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/5/1709 |
| _version_ | 1797263823356297216 |
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| author | Yi Ding Jiaxing Che Zhiming Zhou Jingyuan Bian |
| author_facet | Yi Ding Jiaxing Che Zhiming Zhou Jingyuan Bian |
| author_sort | Yi Ding |
| collection | DOAJ |
| description | Ground target detection and positioning systems based on lightweight unmanned aerial vehicles (UAVs) are increasing in value for aerial reconnaissance and surveillance. However, the current method for estimating the target’s position is limited by the field of view angle, rendering it challenging to fulfill the demands of a real-time omnidirectional reconnaissance operation. To address this issue, we propose an Omnidirectional Optimal Real-Time Ground Target Position Estimation System (Omni-OTPE) that utilizes a fisheye camera and LiDAR sensors. The object of interest is first identified in the fisheye image, and then, the image-based target position is obtained by solving using the fisheye projection model and the target center extraction algorithm based on the detected edge information. Next, the LiDAR’s real-time point cloud data are filtered based on position–direction constraints using the image-based target position information. This step allows for the determination of point cloud clusters that are relevant to the characterization of the target’s position information. Finally, the target positions obtained from the two methods are fused using an optimal Kalman fuser to obtain the optimal target position information. In order to evaluate the positioning accuracy, we designed a hardware and software setup, mounted on a lightweight UAV, and tested it in a real scenario. The experimental results validate that our method exhibits significant advantages over traditional methods and achieves a real-time high-performance ground target position estimation function. |
| first_indexed | 2024-04-25T00:19:08Z |
| format | Article |
| id | doaj.art-8aa1118d124e487791aa614bd92a8865 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-25T00:19:08Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8aa1118d124e487791aa614bd92a88652024-03-12T16:55:42ZengMDPI AGSensors1424-82202024-03-01245170910.3390/s24051709Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial VehicleYi Ding0Jiaxing Che1Zhiming Zhou2Jingyuan Bian3The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, ChinaThe School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, ChinaThe School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, ChinaThe School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, ChinaGround target detection and positioning systems based on lightweight unmanned aerial vehicles (UAVs) are increasing in value for aerial reconnaissance and surveillance. However, the current method for estimating the target’s position is limited by the field of view angle, rendering it challenging to fulfill the demands of a real-time omnidirectional reconnaissance operation. To address this issue, we propose an Omnidirectional Optimal Real-Time Ground Target Position Estimation System (Omni-OTPE) that utilizes a fisheye camera and LiDAR sensors. The object of interest is first identified in the fisheye image, and then, the image-based target position is obtained by solving using the fisheye projection model and the target center extraction algorithm based on the detected edge information. Next, the LiDAR’s real-time point cloud data are filtered based on position–direction constraints using the image-based target position information. This step allows for the determination of point cloud clusters that are relevant to the characterization of the target’s position information. Finally, the target positions obtained from the two methods are fused using an optimal Kalman fuser to obtain the optimal target position information. In order to evaluate the positioning accuracy, we designed a hardware and software setup, mounted on a lightweight UAV, and tested it in a real scenario. The experimental results validate that our method exhibits significant advantages over traditional methods and achieves a real-time high-performance ground target position estimation function.https://www.mdpi.com/1424-8220/24/5/1709unmanned aerial vehicle (UAV)target position estimationfisheye cameraLiDARdata fusion |
| spellingShingle | Yi Ding Jiaxing Che Zhiming Zhou Jingyuan Bian Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle Sensors unmanned aerial vehicle (UAV) target position estimation fisheye camera LiDAR data fusion |
| title | Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle |
| title_full | Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle |
| title_fullStr | Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle |
| title_full_unstemmed | Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle |
| title_short | Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle |
| title_sort | omni otpe omnidirectional optimal real time ground target position estimation system for moving lightweight unmanned aerial vehicle |
| topic | unmanned aerial vehicle (UAV) target position estimation fisheye camera LiDAR data fusion |
| url | https://www.mdpi.com/1424-8220/24/5/1709 |
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