High Speed Autonomous Navigation of Unmanned Aerial Vehicles using novel Road Identification, Following Tracking (RIFT) Algorithm�

Kumaar, S B and Mannar, S R and Navaneethkrishnan, B and Raja, S P and Omkar, S N (2019) High Speed Autonomous Navigation of Unmanned Aerial Vehicles using novel Road Identification, Following Tracking (RIFT) Algorithm�. In: 3rd IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, 11-12 August 2019, Manipal, India.

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Abstract

Autonomous road navigation in unmanned aerial vehicles flying at very low altitudes paves the way for a multitude of applications such as security surveillance, monitoring of traffic or pollution, package delivery, ground- vehicle tracking etc. Most research in the field of autonomous road vehicles is focused on lane tracking and other marker- dependent techniques. In these lines, a novel, computationally efficient method for (front-view) road identification and tracking based on monocular vision is proposed which is designed to work on roads independent of markings. Road identification is implemented using a combination of spectral component analysis, edge energy-based filtering and morphological processing. Road identification and tracking works at 30 frames/sec for a frame size of 120 x 160 pixels, which is profiled on an Odroid XU4 mini-computer. Results indicating the performance of the proposed method as assessed on Cityscapes and KITTI datasets are presented. © 2019 IEEE.

Item Type:	Conference Paper
Publication:	2019 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2019 - Proceedings
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright of this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Air navigation; Aircraft detection; Antennas; Computer circuits; Electric network parameters; Minicomputers; Road and street markings; Roads and streets; Robotics; Robots; Unmanned aerial vehicles (UAV); Vision; VLSI circuits, Autonomous navigation; Computationally efficient; Monocular vision; Morphological processing; odroid; Road following; Road identifications; Security surveillance, Road vehicles
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	18 Aug 2021 09:02
Last Modified:	18 Aug 2021 09:02
URI:	http://eprints.iisc.ac.in/id/eprint/65097

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