Skip to search boxSkip to navigationSkip to main content

Probabilistic target detection by camera-equipped UAVs

  • Sonia Waharte
    ,
  • Andrew Symington
    ,
  • Simon Julier
    ,
  • Niki Trigoni
Research Output: Chapter in Book/Report/Conference proceeding Conference contribution Peer-review

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.

Publication Information

Output type

Research Output: Chapter in Book/Report/Conference proceeding Conference contribution Peer-review

Original language

English

Publication milestones

  • Published - 15/07/2010

Publication status

Published - 15/07/2010

Publisher

Institute of Electrical and Electronics Engineers Inc., United States

ISBN (Print)

9781424450381

ISBN (Electronic)

9781424450381

External Publication IDs

  • handle.net: 10547/279160
  • Scopus: 77955809418

Host publication title

nan

Access to documents

Publication metrics