Drone Detection and Tracking in Real-Time by Fusion of Different Sensing Modalities
Drone Detection and Tracking in Real-Time by Fusion of Different Sensing Modalities
复制标题
DOI：
10.48550/arxiv.2207.01927
复制
发表时间：
2022-07
期刊：
影响因子：
--
通讯作者：
F. Svanström;F. Alonso-Fernandez;Cristofer Englund
中科院分区：
文献类型：
--
作者：
F. Svanström;F. Alonso-Fernandez;Cristofer Englund
无人机的自动检测是一个关键问题，它的存在，特别是在未经授权的情况下，可能会造成危险情况或危及安全。在这里，我们设计和评估多传感器无人机检测系统。结合标准的视频摄像机和麦克风传感器，我们探讨了使用热红外摄像机，指出作为一个可行的和有前途的解决方案，在相关文献中几乎没有解决。我们的解决方案还集成了一个鱼眼摄像头，以监控更大范围的天空，并将其他摄像头转向感兴趣的物体。传感解决方案还配有ADS-B接收器、GPS接收器和雷达模块。然而，由于后者的探测范围有限，我们的最终部署没有包括后者。热成像摄像机被证明是一个可行的解决方案，以及摄像机，即使这里采用的相机具有较低的分辨率。我们工作的另外两个新颖之处是创建了一个新的多传感器注释数据的公共数据集，与现有数据集相比，该数据集扩展了类的数量，以及研究了作为传感器到目标距离的函数的检测器性能。还探讨了传感器融合，表明系统可以以这种方式变得更加鲁棒，从而减轻单个传感器的错误检测。
Automatic detection of flying drones is a key issue where its presence, especially if unauthorized, can create risky situations or compromise security. Here, we design and evaluate a multi-sensor drone detection system. In conjunction with standard video cameras and microphone sensors, we explore the use of thermal infrared cameras, pointed out as a feasible and promising solution that is scarcely addressed in the related literature. Our solution integrates a fish-eye camera as well to monitor a wider part of the sky and steer the other cameras towards objects of interest. The sensing solutions are complemented with an ADS-B receiver, a GPS receiver, and a radar module. However, our final deployment has not included the latter due to its limited detection range. The thermal camera is shown to be a feasible solution as good as the video camera, even if the camera employed here has a lower resolution. Two other novelties of our work are the creation of a new public dataset of multi-sensor annotated data that expands the number of classes compared to existing ones, as well as the study of the detector performance as a function of the sensor-to-target distance. Sensor fusion is also explored, showing that the system can be made more robust in this way, mitigating false detections of the individual sensors.