2.50
Hdl Handle:
http://hdl.handle.net/10547/279160
Title:
Probabilistic target detection by camera-equipped UAVs
Authors:
Symington, Andrew; Waharte, Sonia; Julier, Simon; Trigoni, Niki
Abstract:
This paper is motivated by the real world problem of search and rescue by unmanned aerial vehicles (UAVs). We consider the problem of tracking a static target from a bird's-eye view camera mounted to the underside of a quadrotor UAV. We begin by proposing a target detection algorithm, which we then execute on a collection of video frames acquired from four different experiments. We show how the efficacy of the target detection algorithm changes as a function of altitude. We summarise this efficacy into a table which we denote the observation model. We then run the target detection algorithm on a sequence of video frames and use parameters from the observation model to update a recursive Bayesian estimator. The estimator keeps track of the probability that a target is currently in view of the camera, which we refer to more simply as target presence. Between each target detection event the UAV changes position and so the sensing region changes. Under certain assumptions regarding the movement of the UAV, the proportion of new information may be approximated to a value, which we then use to weight the prior in each iteration of the estimator.
Citation:
Symington, A.; Waharte, S.; Julier, S. and Trigoni, N., (2010) 'Probabilistic target detection by camera-equipped UAVs,' Robotics and Automation (ICRA), IEEE International Conference on: 4076-4081
Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date:
2010
URI:
http://hdl.handle.net/10547/279160
DOI:
10.1109/ROBOT.2010.5509355
Additional Links:
http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5509355
Type:
Conference papers, meetings and proceedings
Language:
en
ISBN:
9781424450381
Appears in Collections:
Centre for Research in Distributed Technologies (CREDIT)

Full metadata record

DC FieldValue Language
dc.contributor.authorSymington, Andrewen_GB
dc.contributor.authorWaharte, Soniaen_GB
dc.contributor.authorJulier, Simonen_GB
dc.contributor.authorTrigoni, Nikien_GB
dc.date.accessioned2013-04-07T16:36:43Z-
dc.date.available2013-04-07T16:36:43Z-
dc.date.issued2010-
dc.identifier.citationSymington, A.; Waharte, S.; Julier, S. and Trigoni, N., (2010) 'Probabilistic target detection by camera-equipped UAVs,' Robotics and Automation (ICRA), IEEE International Conference on: 4076-4081en_GB
dc.identifier.isbn9781424450381-
dc.identifier.doi10.1109/ROBOT.2010.5509355-
dc.identifier.urihttp://hdl.handle.net/10547/279160-
dc.description.abstractThis paper is motivated by the real world problem of search and rescue by unmanned aerial vehicles (UAVs). We consider the problem of tracking a static target from a bird's-eye view camera mounted to the underside of a quadrotor UAV. We begin by proposing a target detection algorithm, which we then execute on a collection of video frames acquired from four different experiments. We show how the efficacy of the target detection algorithm changes as a function of altitude. We summarise this efficacy into a table which we denote the observation model. We then run the target detection algorithm on a sequence of video frames and use parameters from the observation model to update a recursive Bayesian estimator. The estimator keeps track of the probability that a target is currently in view of the camera, which we refer to more simply as target presence. Between each target detection event the UAV changes position and so the sensing region changes. Under certain assumptions regarding the movement of the UAV, the proportion of new information may be approximated to a value, which we then use to weight the prior in each iteration of the estimator.en_GB
dc.language.isoenen
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INCen_GB
dc.relation.urlhttp://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5509355en_GB
dc.subjectBayesian methodsen_GB
dc.subjectrobotics and automationen_GB
dc.subjectroboticsen_GB
dc.titleProbabilistic target detection by camera-equipped UAVsen
dc.typeConference papers, meetings and proceedingsen
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