Ben Miled, Meriem;
Zeng, Qiaochu;
Liu, Yuanchang;
(2022)
Discussion on event-based cameras for dynamic obstacles recognition and detection for UAVs in outdoor environments.
In:
UKRAS22 Conference "Robotics for Unconstrained Environments" Proceedings.
EPSRC UK-RAS Network
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Abstract
To safely navigate and avoid obstacles in a complex dynamic environment, autonomous drones need a reaction time less than 10 milliseconds. Thus, event-based cameras have increasingly become more widespread in the academic research field for dynamic obstacles detection and avoidance for UAV, as their achievements outperform their frame-based counterparts in term of low-latency. Several publications showed significant results using these sensors. However, most of the experiments relied on indoor data. After a short introduction explaining the differences and features of an event-based camera compared to traditional RGB camera, this work explores the limits of the state-of-art event-based algorithms for obstacles recognition and detection by expanding their results from indoor experiments to real-world outdoor experiments. Indeed, this paper shows the inaccuracy of event-based algorithms for recognition due to insufficient amount of events generated and the inefficiency of event-based obstacles detection algorithms due to the high ration of noise.
Type: | Proceedings paper |
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Title: | Discussion on event-based cameras for dynamic obstacles recognition and detection for UAVs in outdoor environments |
Event: | UKRAS 2022 |
Open access status: | An open access version is available from UCL Discovery |
DOI: | 10.31256/Ka3Gg8V |
Publisher version: | http://doi.org/10.31256/Ka3Gg8V |
Language: | English |
Additional information: | This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions. |
Keywords: | Robotic, Dynamic obstacle, obstacle avoidance, obstacle recognition, Event-based vision dynamic, vision sensor, event reconstruction |
UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
URI: | https://discovery.ucl.ac.uk/id/eprint/10161536 |
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