低代价高动态大视场低慢小飞行器检测与跟踪
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西安电子科技大学人工智能学院,西安 710126

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国家自然科学基金(62402366)。


Low-Cost, High-Dynamic, Large Field-of-View Detection and Tracking of Low-Slow-Small Aerial Vehicles
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School of Artificial Intelligence, Xidian University, Xi’an 710126, China

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    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。

    Abstract:

    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.

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引用本文

常宇轩,杨文,吴金建.低代价高动态大视场低慢小飞行器检测与跟踪[J].数据采集与处理,2025,40(1):86-101

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  • 收稿日期:2024-12-31
  • 最后修改日期:2025-01-23
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  • 在线发布日期: 2025-02-23