IEEE - Aerospace and Electronic Systems - July 2022 - 42

A Vision-Based Guidance Algorithm for Entering Buildings Through Windows for Delivery Drones
[6] M. Popp, G. Scholz, S. Prophet, and G. Trommer, " A
laser and image based navigation and guidance system
for autonomous outdoor-indoor transition flights of
mavs, " in Proc. DGON Inertial Sensors Syst. Symp.,
2015, pp. 1-18.
[7] M. Popp, S. Prophet, G. Scholz, and G. F. Trommer, " A
navigation and guidance system for autonomous flights of
MAVs into buildings, " in Proc. 28th Int. Tech. Meeting
Satell. Division Inst. Navigation, 2015, pp. 784-816.
[8] C. Wu, J.-M. Frahm, and M. Pollefeys, " Detecting large
repetitive structures with salient boundaries, " in Proc. Eur.
Conf. Comput. Vis., 2010, pp. 142-155.
[9] A. Wendel, M. Donoser, and H. Bischof, " Unsupervised
facade segmentation using repetitive patterns, " in Proc.
Joint Pattern Recognit. Symp., 2010, pp. 51-60.
[10] M. Recky and F. Leberl, " Window detection in complex
facades, " in Proc. 2nd Eur. Workshop Vis. Inf. Process.,
2010, pp. 220-225.
[11] J. Hernandez, M. Beatriz, and M. Fernand, " Morphological
fac¸ade image analysis for building modeling, " 32eme
Journee ISS. France, 2009, pp. 1-3.
Figure 14.
Tello camera view captured in flight tests with different illumination
conditions and different building facade textures. (a) Uniform
texture - good daylight. (b) Non-uniform texture - poor daylight.
(c), and (f) Different uniform textures - poor daylight. (d), and (e)
Different non-uniform textures - good daylight.
autonomous entry, we are considering machine learning solutions
for smart detection of the approximate window box for
mission initialization.
REFERENCES
[1] Y. Lyu, Q. Pan, C. Zhao, Y. Zhang, and J. Hu, " Visionbased
UAV collision avoidance with 2D dynamic safety
envelope, " IEEE Aerosp. Electron. Syst. Mag., vol. 31,
no. 7, pp. 16-26, Jul. 2016.
[2] B. A. Kumar and D. Ghose, " Radar-assisted collision avoidance/guidance
strategy forplanarflight, " IEEE Trans.
Aerosp. Electron. Syst., vol. 37, no. 1, pp. 77-90, Jan. 2001.
[3] S. Zingg, D. Scaramuzza, S. Weiss, and R. Siegwart, " Mav
navigation through indoor corridors using optical flow, " in
Proc. IEEEInt. Conf. Robot.Automat., 2010, pp. 3361-3368.
[4] M. Nieuwenhuisen and S. Behnke, " Layered mission and
path planning for MAV navigation with partial environment
knowledge, " in Intelligent Autonomous Systems-13, 2016,
pp. 307-319.
[5] D.Droeschel,J.St€uckler, and S. Behnke, " Local multi-resolution
representation for 6D motion estimation and mapping
with a continuously rotating 3D laser scanner, " inProc. IEEE
Int. Conf. Robot.Automat., 2014, pp. 5221-5226.
42
[12] S. C. Lee and R. Nevatia, " Extraction and integration of
window in a 3D building model from ground view
images, " in Proc. IEEE Comput. Soc. Conf. Comput. Vis.
Pattern Recognit., 2004, vol. 2, p. II.
[13] M. Neuhausen and M. K€onig, " Improved window detection
in facade images, " in Advances in Informatics and
Computing in Civil and Construction Engineering.Cham,
Switzerland: Springer, 2019, pp. 537-543.
[14] H. Ali, C. Seifert, N. Jindal, L. Paletta, and G. Paar,
" Window detection in facades, " in Proc. 14th Int. Conf.
Image Anal. Process., 2007, pp. 837-842.
[15] X. Zhuo, M. M€onks, T. Esch, and P. Reinartz, " Facade
segmentation from oblique UAV imagery, " in Proc. Joint
Urban Remote Sens. Event, 2019, pp. 1-4.
[16] M. Schmitz and H. Mayer, " A convolutional network for
semantic facade segmentation and interpretation, " Int.
Arch. Photogrammetry, Remote Sens. Spatial Inf. Sci.,
vol. 41, pp. 709-715, 2016.
[17] S. Huang, F. Nex, Y. Lin, and M. Yang, " Semantic segmentation
of building in airborne images, " Int. Arch. Photogrammetry,
Remote Sens. Spatial Inf. Sci., Enschede,
vol. 42, no. 2, 2019, pp. 35-42.
[18] A. A. Cabrera-Ponce, L. O. Rojas-Perez, J. A. CarrascoOchoa,
J. F. Martinez-Trinidad, and J. Martinez-Carranza,
" Gate detection for micro aerial vehicles using a single
shot detector, " IEEE Latin Amer. Trans., vol. 17, no. 12,
pp. 2045-2052, Dec. 2019.
[19] K. M. Othman and A. B. Rad, " A doorway detection and
direction (3DS) system for social robots via a monocular
camera, " Sensors, vol. 20, no. 9, 2020, Art. no. 2477.
[20] S. Jung, S. Hwang, H. Shin, and D. H. Shim, " Perception,
guidance, and navigation for indoor autonomous drone racing
using deep learning, " IEEE Robot. Automat. Lett.,
vol. 3, no. 3, pp. 2539-2544, Jul. 2018.
IEEE A&E SYSTEMS MAGAZINE
JULY 2022
IEEE - Aerospace and Electronic Systems - July 2022

Table of Contents for the Digital Edition of IEEE - Aerospace and Electronic Systems - July 2022
