{
  "id": "1806.08331",
  "version": "v1",
  "published": "2018-06-21T17:20:27.000Z",
  "updated": "2018-06-21T17:20:27.000Z",
  "title": "Monocular Trail Detection and Tracking Aided by Visual SLAM for Small Unmanned Aerial Vehicles",
  "authors": [
    "André Silva",
    "Ricardo Mendonça",
    "Pedro Santana"
  ],
  "categories": [
    "cs.RO"
  ],
  "abstract": "This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a previous monocular-based technique for trail detection and tracking so as to take into account volumetric data acquired from a Visual SLAM algorithm and, as a result, to increase its sturdiness upon challenging trails. The experimental results, obtained via a set of 12 videos recorded with a camera installed in a tele-operated, unmanned small-sized aerial vehicle, show the ability of the proposed system to overcome some of the difficulties of the original detector, attaining a success rate of $97.8\\,\\%$.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2018-06-21T17:20:27.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "small unmanned aerial vehicles",
      "monocular trail detection",
      "medium-sized aerial vehicles built",
      "monocular vision system",
      "account volumetric data"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}