UAV-UGV協調システムのための信頼度ゲート付き視覚のみの方位合わせ
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
UAVとUGVの協調において、視覚ベースの方位予測をいつ信頼してコマンドとして発行するかを決定する軽量な信頼度ゲートフレームワークを提案し、低信頼区間でのコマンド更新方法を評価した。
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著者: Reza Ahmari, Vahid Hemmati, Parham Kebria, Olusola Odeyomi, Kaushik Roy, Abdollah Homaifar
分類: cs.RO, cs.CV
原文アブストラクト
Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guarantee that every predicted heading should be issued directly as a control command. This paper investigates the decision problem of when and how a fixed vision-based heading predictor should be trusted for command issuance. A lightweight confidence-gated framework is proposed in which execution decisions are made using two interpretable reliability proxies derived from the perception stream: bounding-box area as a visibility-related proxy and short-window variation in predicted heading as a stability-related proxy. During low-confidence intervals, the framework compares the baseline freeze-HOLD policy with a bounded-blend fallback that updates the issued command conservatively. The method is evaluated on a real UAV--UGV dataset under clean and perturbed conditions. The results show that confidence gating creates a clear trade-off among execution rate, executed-frame accuracy, issued-command accuracy, and smoothness. The results further show that sparse execution can cause severe stale-command error under the baseline freeze-HOLD policy, whereas the bounded-blend fallback substantially improves command-level behavior under the same gate decisions. These findings highlight that reliable perception-driven autonomy depends not only on prediction accuracy, but also on decision-aware command issuance during low-confidence
