A sensor management framework for autonomous UAV surveillance
2005 (English)In: Proceedings of SPIE 5787, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications II, SPIE - International Society for Optical Engineering, 2005, 48-61 p.Conference paper (Refereed)
This paper presents components of a sensor management architecture for autonomous UAV systems equipped with IR and video sensors, focusing on two main areas. Firstly, a framework inspired by optimal control and information theory is presented for concurrent path and sensor planning. Secondly, a method for visual landmark selection and recognition is presented. The latter is intended to be used within a SLAM (Simultaneous Localization and Mapping) architecture for visual navigation. Results are presented on both simulated and real sensor data, the latter from the MASP system (Modular Airborne Sensor Platform), an in-house developed UAV surrogate system containing a gimballed IR camera, a video sensor, and an integrated high performance navigation system.
Place, publisher, year, edition, pages
SPIE - International Society for Optical Engineering, 2005. 48-61 p.
, Proceedings of SPIE, ISSN 0277-786X ; 5787
UAV, surveillance, image processing, sensor management, path planning, autonomous systems, IR, tracking, detection, SLAM
Signal Processing Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-120562DOI: 10.1117/12.605023OAI: oai:DiVA.org:liu-120562DiVA: diva2:846269
Airborne Intelligence, Surveillance, Reconnaissance Systems and Applications II, Orlando, Florida, USA, March 28, 2005