低代价高动态大视场低慢小飞行器检测与跟踪  被引量:1

Low-Cost,High-Dynamic,Large Field-of-View Detection and Tracking of Low-Slow-Small Aerial Vehicles

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作  者:常宇轩 杨文 吴金建 CHANG Yuxuan;YANG Wen;WU Jinjian(School of Artificial Intelligence,Xidian University,Xi’an 710126,China)

机构地区:[1]西安电子科技大学人工智能学院,西安710126

出  处:《数据采集与处理》2025年第1期86-101,共16页Journal of Data Acquisition and Processing

基  金:国家自然科学基金(62402366)。

摘  要:低空经济的兴起使小型无人机(Unmanned aerial vehicles,UAVs)在物流、测绘与娱乐等领域获得广泛应用,但由此带来的安全风险也日渐凸显。低慢小(Low-slow-small,LSS)目标检测在国家安全、空域监管以及无人机防御等领域具有重要意义,能够有效应对小型低空飞行目标带来的潜在威胁。针对现有传感器在低成本、复杂光照与大视场要求上存在的不足,本文提出了一种基于事件相机与RGB相机协同的LSS目标检测系统。首先,借助事件相机高速成像及大动态范围配合智能控制转台进行“扫视”,并通过基于事件的检测算法完成目标初步定位;随后,利用信息协同模块融合双模态数据以提升检测精度;最后,依托RGB相机的高分辨率与动态变焦特性实现“凝视”,并结合提出的图像识别算法进行目标精细化识别与跟踪。在复杂光照与宽视场条件下,该系统兼顾了低代价与高性能,为LSS目标检测提供了有效的新路径。The rise of the low⁃altitude economy has led to the widespread adoption of small unmanned aerial vehicles(UAVs)in logistics,surveying,and entertainment,yet the associated security risks have grown increasingly prominent.Detecting low⁃slow⁃small(LSS)targets is therefore crucial in domains such as national security,airspace regulation,and UAV defense,as it effectively mitigates potential threats posed by small and low⁃altitude flying objects.In response to limitations of current sensors with regard to cost⁃effectiveness,operation under complex lighting conditions,and broad field⁃of⁃view coverage,this paper proposes an LSS target detection system that leverages both an event camera and an RGB camera.First,the high⁃speed imaging and wide dynamic range of event camera are employed for an initial“sweep”,and an event⁃based detection algorithm provides preliminary target localization.Next,an information collaboration module fuses the two⁃modal data to enhance detection accuracy.Finally,the high⁃resolution and dynamic zoom features of RGB camera enable a“gaze”mode,combined with a dedicated image recognition algorithm for fine⁃grained target identification and tracking.Under complex lighting and wide field⁃of⁃view scenarios,this system achieves both low cost and high performance,offering an effective new approach to LSS target detection.

关 键 词:目标检测与追踪 低慢小目标 事件相机 RGB相机 跨模态协同 

分 类 号:TP391.41[自动化与计算机技术—计算机应用技术]

 

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