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Volume 20 Issue 5
October  2023
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Yi-Min Deng, Si-Yuan Wang. Biological Eagle-eye Inspired Target Detection for Unmanned Aerial Vehicles Equipped with a Manipulator. Machine Intelligence Research, vol. 20, no. 5, pp.741-752, 2023. https://doi.org/10.1007/s11633-022-1342-3
Citation: Yi-Min Deng, Si-Yuan Wang. Biological Eagle-eye Inspired Target Detection for Unmanned Aerial Vehicles Equipped with a Manipulator. Machine Intelligence Research, vol. 20, no. 5, pp.741-752, 2023. https://doi.org/10.1007/s11633-022-1342-3
shu

Biological Eagle-eye Inspired Target Detection for Unmanned Aerial Vehicles Equipped with a Manipulator

doi: 10.1007/s11633-022-1342-3

  • School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

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  • Author Bio:

    Yi-Min Deng received the B. Sc. and Ph. D. degrees in control science and engineering from School of Automation Science and Electrical Engineering, Beihang University, China in 2011 and 2017, respectively. He is currently an associate professor at School of Automation Science and Electrical Engineering, Beihang University, China. He is enrolled in the Young Elite Scientists Sponsorship Program by CAST (Chinese Association for Science and Technology) and Young Top Talent Support Program by Beihang University. His research interests include biological computer vision and autonomous flight control. E-mail: ymdeng@buaa.edu.cn (Corresponding author)ORCID iD: 0000-0003-1533-3839

    Si-Yuan Wang received the B. Sc. degree in automation from School of Automation and Electrical Engineering, University of Science and Technology Beijing, China in 2019. She is currently a master student in guidance, navigation and control at School of Automation Science and Electrical Engineering, Beihang University, China. Her research interests include bioinspired computation and artificial intelligence. E-mail: wang_siyuan@buaa.edu.cn

  • Received Date: 2022-01-17
  • Accepted Date: 2022-05-30
  • Publish Online: 2023-03-07
  • Publish Date: 2023-10-01
    Abstract
  • Inspired by eagle eye mechanisms, the structure and information processing characteristics of the eagle′s visual system are used for the target capture task of an unmanned aerial vehicle (UAV) with a mechanical arm. In this paper, a novel eagle-eye inspired multi-camera sensor and a saliency detection method are proposed. A combined camera system is built by simulating the double fovea structure on the eagle retina. A saliency target detection method based on the eagle midbrain inhibition mechanism is proposed by measuring the static saliency information and dynamic features. Thus, salient targets can be accurately detected through the collaborative work between different cameras of the proposed multi-camera sensor. Experimental results show that the eagle-eye inspired visual system is able to continuously detect targets in outdoor scenes and that the proposed algorithm has a strong inhibitory effect on moving background interference.

     

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