Real-Time Target Localization Using Gimbaled Laser on UAVs
https://doi.org/10.15514/ISPRAS-2025-37(4)-11
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
Supporting agencies: This work was supported by the Science Committee of RA (Research project № 23AA-1B007).
About the Authors
Vardan SAHAKYAN
Russian-Armenian University
Armenia
Armenia
Researcher at the Center of Advanced Software Technologies (CAST) and a postgraduate student at Russian-Armenian University, specializing in mathematical and software support for computing systems. He holds his B.Sci. in informatics and applied mathematics from the National Polytechnic University of Armenia (2021) and an M.Sc. in intellectual systems and robotics from Russian-Armenian University (2023). His research focuses on UAVs, computer vision, and reinforcement learning.
Vahagn MELKONYAN
Russian-Armenian University
Armenia
Armenia
Received his B.Sci. in Informatics and Applied Mathematics from the National Polytechnic University of Armenia, Armenia, in 2021. In 2023, he earned his M.Sc. degree in Intellectual Systems and Robotics from Russian-Armenian University, Armenia. He is currently pursuing a Ph.D. in Mathematical and Software Support for Computing Machines, Complexes, and Computer Networks at Russian-Armenian University, Armenia. He is also a researcher at the Center of Advanced Software Technologies (CAST). His research interests include UAVs, computer vision, and control algorithms.
Sevak SARGSYAN
Russian-Armenian University
Armenia
Armenia
Received his B. Sci. and M. Sci. degrees in informatics and applied mathematics from Yerevan State University, Armenia, in 2010 and 2012, respectively. He later in 2016, obtained his Cand. Sci. (Phys.-Math.) degree in mathematical and software support for computing machines, complexes, and computer networks from the Ivannikov Institute for System Programming of the Russian Academy of Sciences. Presently, he serves as the head of the system programming department at Russian-Armenian University, Armenia. His research interests include compiler technologies, software security, and software testing.
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Review
For citations:
SAHAKYAN V., MELKONYAN V., SARGSYAN S. Real-Time Target Localization Using Gimbaled Laser on UAVs. Proceedings of the Institute for System Programming of the RAS (Proceedings of ISP RAS). 2025;37(4):189-198. (In Russ.) https://doi.org/10.15514/ISPRAS-2025-37(4)-11
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