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Object detection technique for small unmanned aerial vehicle

Ramli, M. Faiz and Legowo, Ari and Shamsudin, Syariful Syafiq (2017) Object detection technique for small unmanned aerial vehicle. In: 6th International Conference on Mechatronics (ICOM'17), 8th-9th August 2017, Kuala Lumpur.

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Abstract

Obstacle detection and avoidance is desirable for UAVs especially lightweight micro aerial vehicles and is challenging problem since it has payload constraints, therefore only limited sensor can be attached the vehicle. Usually the sensors incorporated in the system is either type vision based (monocular or stereo camera) or Laser based. However, each of the sensor has its own advantage and disadvantage, thus we built the obstacle detection and avoidance system based multi sensor (monocular sensor and LIDAR) integration. On top of that, we also combine SURF algorithm with Harris corner detector to determine the approximate size of the obstacles. In the initial experiment conducted, we successfully detect and determine the size of the obstacles with 3 different obstacles. The differences of length between real obstacles and our algorithm are considered acceptable which is about -0.4 to 3.6.

Item Type: Conference or Workshop Item (Invited Papers)
Additional Information: 5334/58901
Uncontrolled Keywords: Object Detection Technique
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL500 Aeronautics
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User: Dr Ari Legowo
Date Deposited: 31 Oct 2017 14:07
Last Modified: 23 Mar 2018 10:17
URI: http://irep.iium.edu.my/id/eprint/58901

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