title: ROS-based ground stereo vision detection: implementation and experiments.
abstract: This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground stereo vision guidance system is presented with details on system architecture and workflow. The Chan-Vese detection algorithm is further considered and implemented in the robot operating systems (ROS) environment. A data-driven interactive scheme is developed to collect datasets for parameter tuning and performance evaluating. The flying vehicle outdoor experiments capture the stereo sequential images dataset and record the simultaneous data from pan-and-tilt unit, onboard sensors and differential GPS. Experimental results by using the collected dataset validate the effectiveness of the published ROS-based detection algorithm.
authors.affiliation: College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073 People's Republic of China.
authors.forename: Tianjiang
authors.initials: T
authors.lastname: Hu
authors.affiliation: College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073 People's Republic of China.
authors.forename: Boxin
authors.initials: B
authors.lastname: Zhao
authors.affiliation: College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073 People's Republic of China.
authors.forename: Dengqing
authors.initials: D
authors.lastname: Tang
authors.affiliation: College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073 People's Republic of China.
authors.forename: Daibing
authors.initials: D
authors.lastname: Zhang
authors.affiliation: College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073 People's Republic of China.
authors.forename: Weiwei
authors.initials: W
authors.lastname: Kong
authors.affiliation: College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073 People's Republic of China.
authors.forename: Lincheng
authors.initials: L
authors.lastname: Shen
keywords: Autonomous landing; Chan–Vese; Flying object detection; Robot operating systems (ROS); Unmanned aerial vehicle (UAV)