Information Based Planning for Aerial Exploration
2012 (English)Report (Other academic)
Exploration is in this work defined as the task of efficient information gathering of areas, building, roads, etc., by controlling a pan/tilt camera on a sensor platform. Good exploration is characterized by several images from different directions of the areas of interests and that the images can be used to create maps, video mosaics and multi-view imagery for anomaly and change detection. In this paper an aerial exploration framework based on the information filter is presented. The work is inspired by research on optimal trajectory for bearings-only tracking. A number of static grid points represent the area to be explored and the problem is to plan the trajectory of the sensor platform and the pointing direction of the camera to maximize the exploration performance of the grid points.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. , 19 p.
LiTH-ISY-R, ISSN 1400-3902 ; 3047
Sensor platform, Camera, Framework
IdentifiersURN: urn:nbn:se:liu:diva-76892ISRN: LiTH-ISY-R-3047OAI: oai:DiVA.org:liu-76892DiVA: diva2:517410