Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle
Achieving a robust obstacle detection system for small UAV is very challenging. Due to size and weight constraints, very limited detection sensors can be equipped in the system. Prior works focused on a single sensing device which is either camera or range sensors based. However, these sensors hav...
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| Format: | Article |
| Language: | English English |
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Institute of Advanced Engineering and Science (IAES)
2017
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| Online Access: | http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/1/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_article.pdf http://irep.iium.edu.my/62993/2/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_scopus.pdf |
| _version_ | 1848785949211754496 |
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| author | Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari |
| author_facet | Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari |
| author_sort | Ramli, Muhammad Faiz |
| building | IIUM Repository |
| collection | Online Access |
| description | Achieving a robust obstacle detection system for small UAV is very challenging. Due to size and
weight constraints, very limited detection sensors can be equipped in the system. Prior works focused on a
single sensing device which is either camera or range sensors based. However, these sensors have their
own advantages and disadvantages in detecting the appearance of the obstacles. In this paper,
combination of both sensors based is proposed for a small UAV obstacle detection system. A small Lidar
sensor is used as the initial detector and queue for image capturing by the camera. Next, SURF algorithm
is applied to find the obstacle sizes estimation by searching the connecting feature points in the image
frame. Finally, safe avoidance path for UAV is determined through the exterior feature points from the
estimated width of the obstacle. The proposed method was evaluated by conducting experiments in real
time with indoor environment. In the experiment conducted, we successfully detect and determine a safe
avoidance path for the UAV on 6 different sizes and textures of the obstacles including textureless
obstacles |
| first_indexed | 2025-11-14T17:01:16Z |
| format | Article |
| id | iium-62993 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:01:16Z |
| publishDate | 2017 |
| publisher | Institute of Advanced Engineering and Science (IAES) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-629932018-03-23T03:18:55Z http://irep.iium.edu.my/62993/ Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery Achieving a robust obstacle detection system for small UAV is very challenging. Due to size and weight constraints, very limited detection sensors can be equipped in the system. Prior works focused on a single sensing device which is either camera or range sensors based. However, these sensors have their own advantages and disadvantages in detecting the appearance of the obstacles. In this paper, combination of both sensors based is proposed for a small UAV obstacle detection system. A small Lidar sensor is used as the initial detector and queue for image capturing by the camera. Next, SURF algorithm is applied to find the obstacle sizes estimation by searching the connecting feature points in the image frame. Finally, safe avoidance path for UAV is determined through the exterior feature points from the estimated width of the obstacle. The proposed method was evaluated by conducting experiments in real time with indoor environment. In the experiment conducted, we successfully detect and determine a safe avoidance path for the UAV on 6 different sizes and textures of the obstacles including textureless obstacles Institute of Advanced Engineering and Science (IAES) 2017-11 Article PeerReviewed application/pdf en http://irep.iium.edu.my/62993/1/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_article.pdf application/pdf en http://irep.iium.edu.my/62993/2/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_scopus.pdf Ramli, Muhammad Faiz and Shamsudin, Syariful Syafiq and Legowo, Ari (2017) Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle. Indonesian Journal of Electrical Engineering and Computer Science, 8 (2). pp. 441-449. ISSN 2502-4752 E-ISSN 2502-4760 http://www.iaescore.com/journals/index.php/IJEECS/article/view/10012/7647 10.11591/ijeecs.v8.i2.pp441-449 |
| spellingShingle | QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery Ramli, Muhammad Faiz Shamsudin, Syariful Syafiq Legowo, Ari Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| title | Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| title_full | Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| title_fullStr | Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| title_full_unstemmed | Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| title_short | Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| title_sort | obstacle detection technique using multi sensor integration for small unmanned aerial vehicle |
| topic | QA Mathematics TD Environmental technology. Sanitary engineering TJ Mechanical engineering and machinery |
| url | http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/ http://irep.iium.edu.my/62993/1/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_article.pdf http://irep.iium.edu.my/62993/2/62993_Obstacle%20detection%20technique%20using%20multi%20sensor_scopus.pdf |