20.500.12556/RUL-132014 V-RBNN based small drone detection in augmented datasets for 3D LADAR system A 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. drone detection clustering 3D sensor LiDAR fusion data 3D LADAR detekcija dronov gručenje 3D senzor LiDAR zlivanje podatkov 3D LADAR true false true Angleški jezik Slovenski jezik Članek v reviji 2021-10-08 15:18:39 2021-10-08 15:18:40 2022-09-12 04:10:39 0000-00-00 00:00:00 2018 0 0 16 str. iss. 11, art. 3825 Vol. 18 Nov. 2018 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004 1424-8220 10.3390/s18113825 1538015427 RAZ_Kim_Byeong_Hak_2018.pdf RAZ_Kim_Byeong_Hak_2018.pdf 1 64D66D59C5B727D64B81BDBF5EB91743 e3c8ace628f1fd7733c4956e1e483706b4b73863c0a8445c62e86fb2f012549d 3aea9708-283a-11ec-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=149509 https://www.mdpi.com/1424-8220/18/11/3825 1 f4c104c6-2839-11ec-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=149508 Fakulteta za računalništvo in informatiko 0 0 0