Liu, Chang and Szirányi, Tamás (2022) UAV Path Planning based on Road Extraction. In: Proceedings of the 2nd International Conference on Image Processing and Vision Engineering. SciTePress Science and Technology Publications, Lda, Setubal, pp. 202-210. ISBN 9789897585630 10.5220/0011089900003209

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Abstract

With the development of science and technology, UAVs are increasingly being used and serving humans, especially in the wilderness environment, due to their portability and the ease with which they can reach places that are beyond human reach. In this paper, we present a technique for drones to help humans intelligently plan routes in a field environment. Our approach is firstly based on road extraction techniques in the field of image segmentation, using state-of-the-art D-LinkNet to extract roads from images captured by real-time UAVs. Secondly, the extracted road information is analyzed, the set of main roads and that of the secondary road are distinguished according to the width and the real-time road conditions on the ground, and different weights are assigned to them. Finally, the A star algorithm is used to calculate a route plan with weights based on the human-defined starting and ending points to obtain the optimal route. The results of our task are the simulations on publicl y available datasets to show that the method works well to provide the optimal intelligent routes in real-time for people in the field.

Item Type:	Book Section
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Distributed Events Analysis Research Laboratory
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	26 Jan 2023 11:31
Last Modified:	26 Jan 2023 11:31
URI:	https://eprints.sztaki.hu/id/eprint/10467

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