Conference paper Open Access

Asynchronous event-based clustering and tracking for intrusion monitoring in UAS

J. P. Rodríguez-Gómez; ,A. Gómez Eguíluz; J. R. Martínez-de Dios; A. Ollero


DataCite XML Export

<?xml version='1.0' encoding='utf-8'?>
<resource xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://datacite.org/schema/kernel-4" xsi:schemaLocation="http://datacite.org/schema/kernel-4 http://schema.datacite.org/meta/kernel-4.1/metadata.xsd">
  <identifier identifierType="DOI">10.5281/zenodo.5082144</identifier>
  <creators>
    <creator>
      <creatorName>J. P. Rodríguez-Gómez</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-7628-1660</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>,A. Gómez Eguíluz</creatorName>
      <givenName>A. Gómez Eguíluz</givenName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-2285-2605</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>J. R. Martínez-de Dios</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-9431-7831</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>A. Ollero</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-2155-2472</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Asynchronous event-based clustering and tracking for intrusion monitoring in UAS</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2020</publicationYear>
  <subjects>
    <subject>Event camera</subject>
    <subject>Asynchronous</subject>
    <subject>Intrusion monitoring</subject>
    <subject>Surveillance</subject>
    <subject>UAS</subject>
    <subject>Clustering</subject>
    <subject>Feature tracking</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2020-05-08</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="ConferencePaper"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/5082144</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsSupplementedBy" resourceTypeGeneral="Dataset">10.5281/zenodo.3929665</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.3816653</relatedIdentifier>
  </relatedIdentifiers>
  <version>2</version>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;Automatic surveillance and monitoring using Un- manned Aerial Systems (UAS) require the development of per- ception systems that robustly work under different illumination conditions. Event cameras are neuromorphic sensors that cap- ture the illumination changes in the scene with very low latency and high dynamic range. Although recent advances in event- based vision have explored the use of event cameras onboard UAS, most techniques group events in frames and, therefore, do not fully exploit the sequential and asynchronous nature of the event stream. This paper proposes a fully asynchronous scheme for intruder monitoring using UAS. It employs efficient event clustering and feature tracking modules and includes a sampling mechanism to cope with the computational cost of event-by-event processing adapting to on-board hardware computational constraints. The proposed scheme was tested on a real multirotor in challenging scenarios showing significant accuracy and robustness to lighting conditions.&lt;/p&gt;</description>
    <description descriptionType="Other">This work was supported by the ARM-EXTEND (DPI2017-8979-R) project funded by the Spanish National R&amp;amp;D Plan.</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/788247/">788247</awardNumber>
      <awardTitle>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
493
508
views
downloads
All versions This version
Views 49349
Downloads 50846
Data volume 1.3 GB84.2 MB
Unique views 43341
Unique downloads 44034

Share

Cite as