Reconstruction of environment model by using radar vector field histograms

Zbigniew Szymański; Stanisław Jankowski; Jan Szczyrek

doi:10.1117/12.2001354

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15 October 2012 Reconstruction of environment model by using radar vector field histograms

Zbigniew Szymański, Stanisław Jankowski, Jan Szczyrek

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Proceedings Volume 8454, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2012; 845422 (2012) https://doi.org/10.1117/12.2001354
Event: Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2012, 2012, Wilga, Poland

Abstract

The paper presents a method of creating an environment model in collision avoidance system for unmanned aerial vehicles (UAV). The environment model is generated by the procedures processing the data from on-board equipment and digital maps. The main sensor that provides information about the current situation around the UAV is a radar obstacle detector. Each detected object is defined by such parameters as distance, speed and the number of radial zone. The method is based on the idea of the certainty grid introduced in vector field histogram method which is used as a probabilistic representation of the obstacles. The tests of developed algorithm were performed in simulated environment.

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Zbigniew Szymański, Stanisław Jankowski, and Jan Szczyrek "Reconstruction of environment model by using radar vector field histograms", Proc. SPIE 8454, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2012, 845422 (15 October 2012); https://doi.org/10.1117/12.2001354

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