The applicability of on-line contextual calibration to a neural network based monocular collision avoidance system on a UAV

Publication Name: IFAC Papersonline

Publication Date: 2019-01-01

Volume: 52

Issue: 11

Page Range: 7-12

Description:

Contextual calibration for object detection is a technique where a pretrained network collects attractive false positives during a calibration phase and use this calibration data for further training. This paper investigates the applicability of this method to a vision based onboard sense and avoid system, which requires intruder aircraft detection in camera images. Various landscape and sky backgrounds were generated by Unreal4 3D engine for calibration tests. Contextual calibration is a promising candidate for handling extreme situations which are not covered well in the training data.

Open Access: Yes

DOI: 10.1016/j.ifacol.2019.09.110

Authors - 7