论文标题
跟踪微型无人机的跟踪：比较研究
Tracking of Micro Unmanned Aerial Vehicles: A Comparative Study
论文作者
论文摘要
近年来，微型无人机（MUAV）变得非常普遍。由于它们的广泛使用，当他们被非法的业余爱好者驾驶时，施加了关键的风险，因此安全系统需要感知这种MUAV。此外，MUAV的感知对于群群机器人研究至关重要，其中一群机器人中的个体需要系统来互相感知和定位以进行协调的操作。为了获得此类系统，有研究使用不同的感应介质（例如视觉，红外和声音信号以及小规模的雷达）检测MUAV。但是，在该领域中仍有等待处理的挑战，例如将跟踪方法集成到基于视觉的检测系统以提高准确性和计算复杂性。因此，在本研究中，我们将各种跟踪方法结合到文献中可用的基于视觉的MUAV检测系统，以评估准确性的不同跟踪方法，并研究这种整合对计算成本的影响。
Micro unmanned aerial vehicles (mUAV) became very common in recent years. As a result of their widespread usage, when they are flown by hobbyists illegally, crucial risks are imposed and such mUAVs need to be sensed by security systems. Furthermore, the sensing of mUAVs are essential for also swarm robotics research where the individuals in a flock of robots require systems to sense and localize each other for coordinated operation. In order to obtain such systems, there are studies to detect mUAVs utilizing different sensing mediums, such as vision, infrared and sound signals, and small-scale radars. However, there are still challenges that awaits to be handled in this field such as integrating tracking approaches to the vision-based detection systems to enhance accuracy and computational complexity. For this reason, in this study, we combine various tracking approaches to a vision-based mUAV detection system available in the literature, in order to evaluate different tracking approaches in terms of accuracy and as well as investigate the effect of such integration to the computational cost.
