Opto-Electronic Engineering, Volume. 51, Issue 11, 240208-1(2024)
Dual view fusion detection method for event camera detection of unmanned aerial vehicles
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Fig. 1. Comparison of output between event camera and traditional camera
Fig. 2. Event camera drone detection dataset. (a) Event point cloud, with blue background and red drone target; (b) Visible light image frame; (c) Event frame, with the target within the red box
Fig. 6. Visual comparison of detection results. The red box represents the correct detection result, the yellow box represents false alarm, and the green box represents missed detection
Table 1. Experimental results of different algorithms on Ev-UAV dataset
View tableView in ArticleTable 1. Experimental results of different algorithms on Ev-UAV dataset
方法 框架 AP IoU 推理时间/ms SSD 帧 88.3(+8.2) 13.3(−10.1) 62.7(+6.8) — 18.7 FastRCNN 帧 88.7(+7.8) 13.5(−10.3) 63.2(+6.3) — 19.5 YOLOV7 帧 89.8(+6.7) 10.3(−7.1) 65.3(+4.2) — 16.5 RVT 帧 90.3(+6.2) 10.1(−6.9) 65.7(+3.8) — 10.5 SAST 帧 90.1(+6.4) 10.5(−7.3) 65.5(+4.0) — 13.2 DNA-Net 帧 90.5(+6.0) 9.91(−6.7) 65.9(+3.6) — 20.3 OSCAR 帧 90.3(+6.2) 10.2(−7.0) 66.3(+3.2) — 25.3 Pointnet 点云 91.3(+5.2) 8.35(−5.1) 66.1(+3.4) 66.7(+3.6) 19.8 Pointnet++ 点云 93.5(+3.0) 7.33(−4.1) 67.3(+2.2) 67.5(+2.8) 25.3 Ours 点云 96.5 3.21 69.5 70.3 15.2
Table 2. The impact of different views. V and V+ represent different voxel resolutions: V represents 4 pixel × 4 pixel × 20 ms, V+ represents 2 pixel × 2 pixel × 10 ms
View tableView in ArticleTable 2. The impact of different views. V and V+ represent different voxel resolutions: V represents 4 pixel × 4 pixel × 20 ms, V+ represents 2 pixel × 2 pixel × 10 ms
方法 AP IoU/% 推理时间/ms P 89.6 (+6.9) 9.86(−6.65) 66.3 (+3.2) 63.2 (+7.1) 7.2 V 90.6 (+5.9) 8.98 (−5.77) 65.7 (+3.8) 63.8 (+6.5) 10.2 V+ 92.5 (+4.0) 5.33 (−2.12) 66.8 (+2.7) 64.7 (+5.6) 12.3 PV 94.3 (+2.2) 4.32 (−1.11) 67.2 (+2.3) 69.2 (+1.1) 19.2 PV+ 96.5 3.21 69.5 70.3 20.3
Table 3. The effectiveness of different fusion methods
View tableView in ArticleTable 3. The effectiveness of different fusion methods
方法 AP IoU Add 90.2 (+6.3) 8.63 (−5.42) 67.3 (+2.2) 66.8 (+3.7) Multi 91.8 (+4.7) 7.68 (−4.47) 66.9 (+2.6) 64.2 (+6.1) Concat 93.8 (+2.7) 6.38 (3.17) 67.6 (+1.9) 65.3 (+5.0) Ours 96.5 3.21 69.5 70.3
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Miao Li, Nuo Chen, Wei An, Boyang Li, Qiang Ling, Weixing Li. Dual view fusion detection method for event camera detection of unmanned aerial vehicles[J]. Opto-Electronic Engineering, 2024, 51(11): 240208-1
Paper Information
Category: Article
Received: Sep. 2, 2024
Accepted: Oct. 12, 2024
Published Online: Jan. 24, 2025
The Author Email: An Wei (安玮)
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