LiU Electronic Press
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Author:
Rudol, Piotr (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
Human Body Detection and Geolocalization for UAV Search and Rescue Missions Using Color and Thermal Imagery
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the IEEE Aerospace Conference
Conference:
The IEEE Aerospace Conference, March 1-8, Big Sky, Montana, USA
Publisher: IEEE conference proceedings
Series:
Aerospace Conference Proceedings, ISSN 1095-323X; 2008
Pages:
1-8
Year of publ.:
2008
URI:
urn:nbn:se:liu:diva-44654
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-44654
ISBN:
978-1-4244-1487-1
Local ID:
77239
Subject category:
Computer Science
SVEP category:
Computer science
Abstract(en) :

Recent advances in the field of Unmanned Aerial Vehicles (UAVs) make flying robots suitable platforms for carrying sensors and computer systems capable of performing advanced tasks. This paper presents a technique which allows detecting humans at a high frame rate on standard hardware onboard an autonomous UAV in a real-world outdoor environment using thermal and color imagery. Detected human positions are geolocated and a map of points of interest is built. Such a saliency map can, for example, be used to plan medical supply delivery during a disaster relief effort. The technique has been implemented and tested on-board the UAVTech1 autonomous unmanned helicopter platform as a part of a complete autonomous mission. The results of flight- tests are presented and performance and limitations of the technique are discussed.

Available from:
2009-10-10
Created:
2009-10-10
Last updated:
2011-11-28
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