UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration

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This is the code implementation for the paper UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration.

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Install

The code has been tested on Ubuntu 20.04 with ROS Noetic

Dependencies

• PCL

• Eigen

• Boost

• Livox_ros_driver, Follow livox_ros_driver Installation.

The drone detection requires the point cloud to be in PointCloud2 format while the tracking uses the Livox CustomMsg data type. For the conversion use this repository and follow the instructions. If you use a different repository, change the value for the self.lidar_sub variable in the livox_to_img.py file accordingly.

Build

  cd ~/catkin_ws/src
  git clone https://github.com/TIERS/dynamic_scan_tracking
  cd ..
  catkin build

Run

roslaunch dynamic_scan_tracking dynamic_scan_tracking.launch

To enable/disable the drone detection modify the parameters in the config.yaml file.

Citation

If you use this code for any academic work, please cite the following publication:

@misc{catalano2023uav,
    title={UAV Tracking with Solid-State Lidars:Dynamic Multi-Frequency Scan Integration}, 
    author={Iacopo Catalano and Ha Sier and Xianjia Yu and Jorge Pena Queralta and Tomi Westerlund},
    year={2023},
    eprint={2304.12125},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}