Real-time target localization using gimbaled laser on UAVs

V. Sahakyan, V. Melkonyan, S. S. Sargsyan

Russian-Armenian University

Abstract: This paper presents a novel UAV-based system for real-time 3D-object localization that integrates a monocular camera, a gimbaled laser rangefinder, and an onboard computer vision. Unlike prior methods that rely on assumptions such as known object size, flat terrain, or simulation-only validation, our approach enables accurate localization of targets without requiring prior knowledge of the environment. The system performs real-time tracking and localization entirely onboard the drone through active sensor fusion and gimbal control. We implemented the method in a universal software framework and validated it through field experiments, demonstrating its accuracy and robustness in real-world conditions.

Keywords: UAV, object localization, real-time tracking, monocular camera, laser rangefinder, sensor fusion, gimbal control

DOI: 10.15514/ISPRAS-2025-37(4)-11