Visual marker detection in the presence of colored noise for unmanned aerial vehicles

Syed Irtiza Ali Shah, Allen D. Wu, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper develops a vision-based algorithm to detect a visual marker in real time and in the presence of excessive colored noise for Unmanned Aerial Vehicles. After using various image analysis techniques, including color histograms, filtering techniques and color space analyses, typical pixel-based characteristics of the visual marker were established. It was found that not only various color space based characteristics were significant, but also relationships between various channels across different color spaces were of great consequence. A block based search algorithm was then used to search for those established characteristics in real-time image data stream from a colored camera. A low cost noise and interference filter was also devised to handle excessive noise that was encountered during flight tests. The specific implementation scenario is that of detection of a Blue LED for GerogiaTech's participating aircraft into the International Aerial Robotics competition. The final algorithm that was implemented on GTAR lama aircraft, used both multiple thresholding and linear confidence level calculations and was successfully used in the competition in 2009.

Original languageEnglish (US)
Title of host publicationAIAA Infotech at Aerospace 2010
StatePublished - Dec 16 2010
EventAIAA Infotech at Aerospace 2010 - Atlanta, GA, United States
Duration: Apr 20 2010Apr 22 2010

Publication series

NameAIAA Infotech at Aerospace 2010

Other

OtherAIAA Infotech at Aerospace 2010
CountryUnited States
CityAtlanta, GA
Period4/20/104/22/10

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering

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  • Cite this

    Shah, S. I. A., Wu, A. D., & Johnson, E. (2010). Visual marker detection in the presence of colored noise for unmanned aerial vehicles. In AIAA Infotech at Aerospace 2010 [2010-3428] (AIAA Infotech at Aerospace 2010).