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Proceedings Paper

A sensor management framework for autonomous UAV surveillance
Author(s): Morgan Ulvklo; Jonas Nygards; Jorgen Karlholm; Per Skoglar; Jorgen Ahlberg; Jonas Nilsson
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Paper Abstract

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.

Paper Details

Date Published: 10 May 2005
PDF: 14 pages
Proc. SPIE 5787, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications II, (10 May 2005); doi: 10.1117/12.605023
Show Author Affiliations
Morgan Ulvklo, Swedish Defence Research Agency (Sweden)
Linkoeping Univ. (Sweden)
Jonas Nygards, Swedish Defence Research Agency (Sweden)
Linkoeping Univ. (Sweden)
Jorgen Karlholm, Swedish Defence Research Agency (Sweden)
Per Skoglar, Swedish Defence Research Agency (Sweden)
Jorgen Ahlberg, Swedish Defence Research Agency (Sweden)
Linkoeping Univ. (Sweden)
Jonas Nilsson, Swedish Defence Research Agency (Sweden)


Published in SPIE Proceedings Vol. 5787:
Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications II
Stephan H. Wyatt, Editor(s)

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