Detection and tracking of Micro Aerial Vehicles (MAVs) using a rosette scanning line LiDAR
The rosette scanning Livox LiDAR sensor uses multiple, aligned laser beams, which move in a non-repetitive rosette-like pattern inside the sensor, covering the entire field of view by using a Risley prism. This type of sensor design results in faster measurements, cheaper and smaller size device with respect to the more common rotating multi-beam models (e.g. Velodyne or Ouster LiDAR sensors).
An important feature of the rosette scanning LiDAR is that it captures significantly more measurement data from a target object in the centre of the sensors’ field of view, as the laser beam passes through the centre each time it travels along the rotating 8-like shaped trajectories. Therefore, it is very important to orient the sensor in such a way that it continuously tracks the flying UAV, keeping it in the centre of the LiDAR sensor. To achieve this, we have implemented a particle filter based detection and tracking algorithm using a Pan-Tilt positioning system, that is able to keep a target object in the center of the sensor at all times.
The aim of this project is to develop a low-cost technology that is affordable for individual customers and institutions, thus enhancing the privacy of European citizens and the security of critical infrastructures, and more generally to detect the unauthorized and inappropriate use of UAVs.
An important feature of the rosette scanning LiDAR is that it captures significantly more measurement data from a target object in the centre of the sensors’ field of view, as the laser beam passes through the centre each time it travels along the rotating 8-like shaped trajectories. Therefore, it is very important to orient the sensor in such a way that it continuously tracks the flying UAV, keeping it in the centre of the LiDAR sensor. To achieve this, we have implemented a particle filter based detection and tracking algorithm using a Pan-Tilt positioning system, that is able to keep a target object in the center of the sensor at all times.
The aim of this project is to develop a low-cost technology that is affordable for individual customers and institutions, thus enhancing the privacy of European citizens and the security of critical infrastructures, and more generally to detect the unauthorized and inappropriate use of UAVs.