In this article we will present a LIDAR detection approach tailored to the platform constraints of Mini-UAVs in terms of SWaP issues (Size, Weight, and Power). The overall objective is the integration of a real-time range based perception module, which can be combined with other sensors such as EO or IR. As benchmark application a detection task for car-sized objects was selected. In order to implement this capability, a functional chain was set up consisting of the following major processing steps: Synchronization of LIDAR and IMU data, inertial correction of the LIDAR scan using the UAV attitude and position, accumulation of single LIDAR scans within an earth-fixed point cloud. The detection of car-like objects was then accomplished by comparing cell elevation mean values with neighboring cells applying heuristic thresholds. The article will provide details on the data acquisition and processing implementation, system integration issues as well as the experimental setup and results.    «

In this article we will present a LIDAR detection approach tailored to the platform constraints of Mini-UAVs in terms of SWaP issues (Size, Weight, and Power). The overall objective is the integration of a real-time range based perception module, which can be combined with other sensors such as EO or IR. As benchmark application a detection task for car-sized objects was selected. In order to implement this capability, a functional chain was set up consisting of the following major processing st...    »