Towards Robust Lidar-based 3D Detection and Tracking of UAVs
PROCEEDINGS OF THE DRONET IX WORKSHOP 9TH ACM WORKSHOP ON MICRO AERIAL VEHICLE NETWORKS, SYSTEMS, AND APPLICATIONS, DRONET IX 2023(2023)
摘要
In this paper, we study the robustness of lidar-based 3D detection & tracking of UAVs. We investigate the effective detection ranges of different UAVs based on their construction materials and the effective range & 3D detection performance of a specific UAV at different atmospheric visibility conditions. Further, we examine to what extent lidar-based systems can track a drone's trajectories via real-world experiments and point cloud data processing. Using a COTS lidar-based system (Livox Mid-40), we confirm that we can track UAVs in a fine-grained manner at up to 80m distance under various environmental conditions (i.e., morning, afternoon, and night).
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关键词
Lidar-based detection,UAV detection and tracking,Target reflectivity,Light robustness
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