面向灾难响应相关环境中GPS拒止下微型无人机偏航控制学习的360度视觉数据集
A 360-Degree Vision Dataset for Learning Yaw Control on GPS-Denied Micro-UAVs in Disaster-Response-Relevant Environments
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中文总结 AI 辅助
该研究针对GPS拒止的灾难响应环境，构建360度视觉数据集，提出基于卷积神经网络的偏航控制方法，经测试验证其可行性与实用性。
中文摘要 AI 辅助
本文提出了一种基于数据的新型方法，用于在GPS拒止、无线电受限的室内环境中实现微型无人机的相机自主导航。目标应用场景是灾难与应急响应，微型无人机可在消防、化学、生物、放射和核（CBRN）事故等危险环境中提供快速态势感知，同时降低人类救援人员的风险。当通信链路中断时，微型无人机利用学习得到的偏航控制器自主向开阔空间导航，保存机载传感器数据，避免随飞行器一同丢失。研究中使用配备360度相机的定制微型无人机，记录了通信拒止野外作业场景的多样化工业、地下及训练场景。我们引入了一种预处理流程，将等距360度影像转换为平面前视图，并动态生成用于AI训练的图像-标签对。随后，我们训练并比较了多种卷积神经网络变体，这些网络可从单目视图预测连续偏航指令。对保留的测试集的评估证实了学习型偏航预测方法的可行性。半自主真实世界测试进一步验证了该方法的实用性，同时揭示了关键失效模式，尤其是反射与眩光问题。
英文摘要
This paper presents a novel data-driven approach to camera-based autonomy for micro-drones in GPS-denied, radio-challenging indoor environments. The target application is disaster and emergency response, where micro-UAVs can provide rapid situational awareness in hazardous settings such as firefighting and chemical, biological, radiological, and nuclear (CBRN) incidents while reducing risk for human responders. When the communication link is lost, the micro-drone uses a learned yaw controller to autonomously navigate toward open space, preserving onboard sensor data that would otherwise be lost with the vehicle. A custom micro-drone equipped with a 360-degree camera was used to record diverse industrial, underground, and training scenarios representative of communication-denied field operations. We introduce a preprocessing pipeline that converts equirectangular 360-degree footage into planar front views and dynamically generates image-label pairs for AI training. We then train and compare multiple convolutional neural network variants that predict a continuous yaw command from a single monocular view. Evaluation on a held-out test set confirms the feasibility of the learned yaw-prediction approach. A semi-autonomous real-world test further demonstrates the practicality of the method while revealing key failure modes, particularly reflections and glare.
发表机构
- Westphalian University of Applied Sciences (WHS)（威斯特伐利亚应用科学大学（WHS））
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