Unmanned aerial vehicles (UAVs) have been widely adopted for a variety of civilian and military applications. Despite their many advantages, most UAVs are not suitable for indoor missions due to the lack of global position system (GPS) and the large size of UAV with diverse sensors. In this work, a lightweight and cost-effective indoor multi-UAV surveillance system is presented for accurate target localization. The proposed system employs a vision-based architecture, leveraging ORB-SLAM for self-localization and YOLOv3 for object detection. The triangulation method is employed for target positioning, offering reliable performance with negligible time delays and improved detection compared to depth camera approaches. After that, the Riccati observer is introduced to address the stochastic nature of the system. Through a series of experiments involving real UAVs, the system demonstrates its ability to accurately localize and track targets in indoor environments, updating the UAVs’ positions in real-time with optimal performance.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Vision-Based Target Localization with Cooperative UAVs Towards Indoor Surveillance


    Beteiligte:
    Niu, Guanchong (Autor:in) / Cao, Qi (Autor:in) / Chen, Chung Shue (Autor:in)


    Erscheinungsdatum :

    2023-10-10


    Format / Umfang :

    6837092 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Multi-UAVs Cooperative Ground Target Localization Method Design and Experiment

    Qu, Yaohong / Yang, Bing / Sun, Ying et al. | Springer Verlag | 2021


    Multi-UAVs Cooperative Ground Target Localization Method Design and Experiment

    Qu, Yaohong / Yang, Bing / Sun, Ying et al. | TIBKAT | 2022


    Cooperative Vision-Based Tracking of Multiple UAVs

    Cichella, Venanzio / Kaminer, Isaac / Dobrokhodov, Vladimir et al. | AIAA | 2013


    Cooperative target localization using multiple UAVs with out-of-sequence measurements

    Wang, Xiaogang / Qin, Wutao / Bai, Yuliang et al. | Emerald Group Publishing | 2017


    Cooperative Localization for Multi-rotor UAVs

    Chakraborty, Anusna / Sharma, Rajnikant / Brink, Kevin | AIAA | 2019