Image processing and sensor management for autonomous UAV surveillance

Morgan H. Ulvklo; Jonas Nygards; Jorgen M. Karlholm; Per Skoglar

doi:10.1117/12.542251

30 August 2004 Image processing and sensor management for autonomous UAV surveillance

Morgan H. Ulvklo, Jonas Nygards, Jorgen M. Karlholm, Per Skoglar

Proceedings Volume 5409, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications; (2004) https://doi.org/10.1117/12.542251
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

This paper describes a framework for image processing and sensor management for an autonomous unmanned airborne surveillance system equipped with infrared and video sensors. Our working hypothesis is that integration of the detection-tracking-classification chain with spatial awareness makes possible intelligent autonomous data acquisition by means of active sensor control. A central part of the framework is a surveillance scene representation, suitable for target tracking, geolocation, and sensor data fusion involving multiple platforms. The representation, based on Simultaneous Localization and Mapping, SLAM, take into account uncertainties associated with sensor data, platform navigation, and prior knowledge. A client/server approach, for on-line adaptable surveillance missions, is introduced. The presented system is designed to simultaneously and autonomously perform the following tasks: provide wide area coverage from multiple viewpoints by means of a step-stare procedure, detect and track multiple stationary and moving ground targets, perform a detailed analysis of detected regions-of-interest, and generate precise target coordinates by means of multi-view geolocation techniques.

Citation Download Citation

Morgan H. Ulvklo, Jonas Nygards, Jorgen M. Karlholm, and Per Skoglar "Image processing and sensor management for autonomous UAV surveillance", Proc. SPIE 5409, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications, (30 August 2004); https://doi.org/10.1117/12.542251

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