在 GNSS 拒止环境中使用激光雷达作为相机传感器进行无人机跟踪
UAV Tracking with Lidar as a Camera Sensors in GNSS-Denied Environments
AI总结：
提出融合单个 LiDAR-as-a-camera 传感器生成的全景图像与点云，利用自定义 YOLOv5 检测并实时持续跟踪无先验初始位置的无人机。
摘要：
激光雷达已成为机器人和自主系统中用于高精度态势感知的主要传感器之一。近年来，多模态激光雷达系统不断涌现，其中，LiDAR-as-a-camera（激光雷达即相机）传感器不仅能提供三维点云，还能通过在图像像素中编码深度、反射率或近红外光，生成固定分辨率的 360° 全景图像。这有可能在激光雷达自身潜力之上带来计算机视觉能力。本文特别关注利用激光雷达和激光雷达生成的图像实时跟踪无人机（UAV），这可惠及对接、远程识别或反无人机系统等应用。据我们所知，这是首个探索融合单个激光雷达传感器生成的图像与点云，以在没有先验已知初始位置的情况下跟踪无人机的研究。我们基于在配备 MOCAP 系统的室内实验场地采集的全景图像，训练了一个自定义 YOLOv5 模型用于检测无人机。通过与点云集成，我们能够持续提供无人机的位置。实验表明，与仅基于点云或仅基于图像的方法相比，所提出的无人机跟踪方法具有有效性。此外，我们还在流行的移动计算平台 Nvidia Jetson Nano 上评估了该方法的实时性能。
英文摘要：
LiDAR has become one of the primary sensors in robotics and autonomous system for high-accuracy situational awareness. In recent years, multi-modal LiDAR systems emerged, and among them, LiDAR-as-a-camera sensors provide not only 3D point clouds but also fixed-resolution 360°panoramic images by encoding either depth, reflectivity, or near-infrared light in the image pixels. This potentially brings computer vision capabilities on top of the potential of LiDAR itself. In this paper, we are specifically interested in utilizing LiDARs and LiDAR-generated images for tracking Unmanned Aerial Vehicles (UAVs) in real-time which can benefit applications including docking, remote identification, or counter-UAV systems, among others. This is, to the best of our knowledge, the first work that explores the possibility of fusing the images and point cloud generated by a single LiDAR sensor to track a UAV without a priori known initialized position. We trained a custom YOLOv5 model for detecting UAVs based on the panoramic images collected in an indoor experiment arena with a MOCAP system. By integrating with the point cloud, we are able to continuously provide the position of the UAV. Our experiment demonstrated the effectiveness of the proposed UAV tracking approach compared with methods based only on point clouds or images. Additionally, we evaluated the real-time performance of our approach on the Nvidia Jetson Nano, a popular mobile computing platform.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
