V-RBNN based small drone detection in augmented datasets for 3D LADAR systemKim, Byeong Hak (Avtor) Khan, Danish (Avtor) Bohak, Ciril (Avtor) Choi, Wonju (Avtor) Lee, Hyun Jeong (Avtor) Kim, Min Young (Avtor) drone detectionclustering3D sensorLiDARfusion data3D LADARA common countermeasure to detect threatening drones is the electro-optical infrared (EO/IR) system. However, its performance is drastically reduced in conditions of complex background, saturation and light reflection. 3D laser sensor LiDAR is used to overcome the problems of 2D sensors like EO/IR, but it is not enough to detect small drones at a very long distance because of low laser energy and resolution. To solve this problem, A 3D LADAR sensor is under development. In this work, we study the detection methodology adequate to the LADAR sensor which can detect small drones at up to 2 km. First, a data augmentation method is proposed to generate a virtual target considering the laser beam and scanning characteristics, and to augment it with the actual LADAR sensor data for various kinds of tests before full hardware system developed. Second, a detection algorithm is proposed to detect drones using voxel-based background subtraction and variable radially bounded nearest neighbor (V-RBNN) method. The results show that 0.2 m L2 distance and 60% expected average overlap (EAO) indexes are satisfied for the required specification to detect 0.3 m size of small drones.20182021-10-08 15:18:39Članek v reviji132014UDK: 004ISSN pri članku: 1424-8220DOI: 10.3390/s18113825COBISS_ID: 1538015427sl