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Proceedings Paper

Image processing and sensor management for autonomous UAV surveillance
Author(s): Morgan H. Ulvklo; Jonas Nygards; Jorgen M. Karlholm; Per Skoglar
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Paper 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.

Paper Details

Date Published: 30 August 2004
PDF: 16 pages
Proc. SPIE 5409, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications, (30 August 2004); doi: 10.1117/12.542251
Show Author Affiliations
Morgan H. Ulvklo, Swedish Defence Research Agency (Sweden)
Linkoping Univ. (Sweden)
Jonas Nygards, Swedish Defence Research Agency (Sweden)
Linkoping Univ. (Sweden)
Jorgen M. Karlholm, Swedish Defence Research Agency (Sweden)
Per Skoglar, Swedish Defence Research Agency (Sweden)


Published in SPIE Proceedings Vol. 5409:
Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications
Arthur A. Andraitis; Gerard J. Leygraaf, Editor(s)

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