Download or read book Particle Filter based Architecture for Video Target Tracking and Geo location Using Multiple UAVs written by Christopher Sconyers and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Research in the areas of target detection, tracking, and geo-location is most important for enabling an unmanned aerial vehicle (UAV) platform to autonomously execute a mission or task without the need for a pilot or operator. Small-class UAVs and video camera sensors complemented with "soft sensors" realized only in software as a combination of a priori knowledge and sensor measurements are called upon to replace the cumbersome precision sensors on-board a large class UAV. The objective of this research is to develop a geo-location solution for use on-board multiple UAVs with mounted video camera sensors only to accurately geo-locate and track a target. This research introduces an estimation solution that combines the power of the particle filter with the utility of the video sensor as a general solution for passive target geo-location on-board multiple UAVs. The particle filter is taken advantage of, with its ability to use all of the available information about the system model, system uncertainty, and the sensor uncertainty to approximate the statistical likelihood of the target state. The geo-location particle filter is tested online and in real-time in a simulation environment involving multiple UAVs with video cameras and a maneuvering ground vehicle as a target. Simulation results show the geo-location particle filter estimates the target location with a high accuracy, the addition of UAVs or particles to the system improves the location estimation accuracy with minimal addition of processing time, and UAV control and trajectory generation algorithms restrict each UAV to a desired range to minimize error.

Download or read book Particle Filter Tracking Architecture for Use Onboard Unmanned Aerial Vehicles written by Ben T. Ludington and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) are capable of placing sensors at unique vantage points without endangering a pilot. Therefore, they are well suited to perform target tracking missions. However, performing the mission can be burdensome for the operator. To track a target, the operator must estimate the position of the target from the incoming video stream, update the orientation of the camera, and move the vehicle to an appropriate vantage point. The purpose of the research in this thesis is to provide a target tracking system that performs these tasks automatically in real-time. The first task, which receives the majority of the attention, is estimating the position of the target within the incoming video stream. Because of the inherent clutter in the imagery, the resulting probability distributions are typically non-Gaussian and multi-modal. Therefore, classical state estimation techniques, such as the Kalman filter and its variants are unacceptable solutions. The particle filter has become a popular alternative since it is able to approximate the multi-modal distributions using a set of samples, and it is used as part of this research. To improve the performance of the filter and manage the inherently large computational burden a neural network is used to estimate the performance of the particle filter. The filter parameters are then changed in response to the performance. Once the position of the target is estimated in the frame, it is projected on the ground using the camera orientation and vehicle attitude and input into a linear predictor. The output of the predictor is used to update the orientation of the camera and vehicle waypoints. Through offline, simulation, and flight testing, the approach is shown to provide a powerful visual tracking system for use onboard the GTMax unmanned research helicopter.

Download or read book Tracking with Particle Filter for High dimensional Observation and State Spaces written by Séverine Dubuisson and published by John Wiley & Sons. This book was released on 2015-01-20 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: This title concerns the use of a particle filter framework to track objects defined in high-dimensional state-spaces using high-dimensional observation spaces. Current tracking applications require us to consider complex models for objects (articulated objects, multiple objects, multiple fragments, etc.) as well as multiple kinds of information (multiple cameras, multiple modalities, etc.). This book presents some recent research that considers the main bottleneck of particle filtering frameworks (high dimensional state spaces) for tracking in such difficult conditions.

Download or read book Cooperative Multi sensor Data Fusion to Geo localize Ground Moving Targets Using an Aerial Sensor and a Human as an Additional Sensor written by Azima Motaghi and published by . This book was released on 2014 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability to track targets using Unmanned Aerial Vehicles (UAVs) has a wide range of civilian and military applications. For example, for military personnel, it is critical to track and locate a variety of objects, including the movement of enemy vehicles. For civilian applications, we can easily find UAVs performing tasks related to land survey, weather forecasting, search and rescue missions, and monitoring farm crops. This study presents a novel method for determining the locations of moving ground-based targets using UAVs and human operators. In previous research, Sharma et al. [1] developed a vision-based target tracking algorithm. They used a Kalman-filter to estimate the target's position and velocity. An information-filter was used to control the sensor. Targets were geo-localized using the pixel locations of the targets in an image. The measurements of the UAV position, altitude, and camera pose angle along with the information embedded in the image provide the required input to an estimator to geo-locate ground targets. Using the highly sophisticated skills of humans for sensing environments, we are interested in integrating the abilities of human operators as a part of sensor network. The main contribution of this thesis is a cyber-physical system developed for reducing the localization errors of targets observed by either UAVs or humans working cooperatively. In particular, in the process of developing the system, we developed (1) an Extended Kalman Filter (EKF) based algorithm to estimate the positions of multiple targets, (2) a human sensor model using neural networks, and (3) a weighted filter to fuse local target estimations from multiple UAVs. Human sensor inputs were utilized to improve the geo localization accuracy of target position estimates. This technique requires operators to be equipped with an Android device; providing operators an easy access to Google map and Global Positioning System (GPS); such that they can specify a target's position on the map. Each sensor, UAVs or human operators, exchanges data through a Wi-Fi sensor network. A central station is used to collect the information observed by independent sensors for data fusion and combines them to generate more accurate estimates that would not be available from any single UAV or a human operator. The capability of the system was demonstrated using simulation results and Android hardware.

Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Download or read book Advances in Computational Intelligence written by Joan Cabestany and published by Springer. This book was released on 2011-05-30 with total page 725 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set LNCS 6691 and 6692 constitutes the refereed proceedings of the 11th International Work-Conference on Artificial Neural Networks, IWANN 2011, held in Torremolinos-Málaga, Spain, in June 2011. The 154 revised papers were carefully reviewed and selected from 202 submissions for presentation in two volumes. The second volume includes 76 papers organized in topical sections on video and image processing; hybrid artificial neural networks: models, algorithms and data; advances in machine learning for bioinformatics and computational biomedicine; biometric systems for human-machine interaction; data mining in biomedicine; bio-inspired combinatorial optimization; applying evolutionary computation and nature-inspired algorithms to formal methods; recent advances on fuzzy logic and soft computing applications; new advances in theory and applications of ICA-based algorithms; biological and bio-inspired dynamical systems; and interactive and cognitive environments. The last section contains 9 papers from the International Workshop on Intelligent Systems for Context-Based Information Fusion, ISCIF 2011, held at IWANN 2011.

Download or read book Geolocation Techniques written by Camillo Gentile and published by Springer Science & Business Media. This book was released on 2012-11-11 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Basics of Distributed and Cooperative Radio and Non-Radio Based Geolocation provides a detailed overview of geolocation technologies. The book covers the basic principles of geolocation, including ranging techniques to localization technologies, fingerprinting and localization in wireless sensor networks. This book also examines the latest algorithms and techniques such as Kalman Filtering, Gauss-Newton Filtering and Particle Filtering.

Download or read book Deep Learning for Unmanned Systems written by Anis Koubaa and published by Springer Nature. This book was released on 2021-10-01 with total page 731 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is used at the graduate or advanced undergraduate level and many others. Manned and unmanned ground, aerial and marine vehicles enable many promising and revolutionary civilian and military applications that will change our life in the near future. These applications include, but are not limited to, surveillance, search and rescue, environment monitoring, infrastructure monitoring, self-driving cars, contactless last-mile delivery vehicles, autonomous ships, precision agriculture and transmission line inspection to name just a few. These vehicles will benefit from advances of deep learning as a subfield of machine learning able to endow these vehicles with different capability such as perception, situation awareness, planning and intelligent control. Deep learning models also have the ability to generate actionable insights into the complex structures of large data sets. In recent years, deep learning research has received an increasing amount of attention from researchers in academia, government laboratories and industry. These research activities have borne some fruit in tackling some of the challenging problems of manned and unmanned ground, aerial and marine vehicles that are still open. Moreover, deep learning methods have been recently actively developed in other areas of machine learning, including reinforcement training and transfer/meta-learning, whereas standard, deep learning methods such as recent neural network (RNN) and coevolutionary neural networks (CNN). The book is primarily meant for researchers from academia and industry, who are working on in the research areas such as engineering, control engineering, robotics, mechatronics, biomedical engineering, mechanical engineering and computer science. The book chapters deal with the recent research problems in the areas of reinforcement learning-based control of UAVs and deep learning for unmanned aerial systems (UAS) The book chapters present various techniques of deep learning for robotic applications. The book chapters contain a good literature survey with a long list of references. The book chapters are well written with a good exposition of the research problem, methodology, block diagrams and mathematical techniques. The book chapters are lucidly illustrated with numerical examples and simulations. The book chapters discuss details of applications and future research areas.

Download or read book Unmanned Rotorcraft Systems written by Guowei Cai and published by Springer Science & Business Media. This book was released on 2011-06-01 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design. Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.

Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Download or read book Video Based Surveillance Systems written by Graeme A. Jones and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 277 pages. Available in PDF, EPUB and Kindle. Book excerpt: Monitoring of public and private sites has increasingly become a very sensitive issue resulting in a patchwork of privacy laws varying from country to country -though all aimed at protecting the privacy of the citizen. It is important to remember, however, that monitoring and vi sual surveillance capabilities can also be employed to aid the citizen. The focus of current development is primarily aimed at public and cor porate safety applications including the monitoring of railway stations, airports, and inaccessible or dangerous environments. Future research effort, however, has already targeted citizen-oriented applications such as monitoring assistants for the aged and infirm, route-planning and congestion-avoidance tools, and a range of environment al monitoring applications. The latest generation of surveillance systems has eagerly adopted re cent technological developments to produce a fully digital pipeline of digital image acquisition, digital data transmission and digital record ing. The resultant surveillance products are highly-fiexihle, capahle of generating forensic-quality imagery, and ahle to exploit existing Internet and wide area network services to provide remote monitoring capability.

Download or read book Proceedings of UASG 2019 written by Kamal Jain and published by Springer Nature. This book was released on 2020-02-22 with total page 424 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest advances, innovations, and applications in the field of geographic information systems and unmanned aerial vehicle (UAV) technologies, as presented by leading researchers and engineers at the 1st International Conference on Unmanned Aerial System in Geomatics (UASG), held in Roorkee, India on April 6-7, 2019. It covers highly diverse topics, including photogrammetry and remote sensing, surveying, UAV manufacturing, geospatial data sensing, UAV processing, visualization, and management, UAV applications and regulations, geo-informatics and geomatics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaboration among different specialists.

Download or read book Unmanned Aircraft Systems written by Ella Atkins and published by John Wiley & Sons. This book was released on 2017-01-17 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.

Download or read book 2017 International Conference on Unmanned Aircraft Systems ICUAS written by IEEE Staff and published by . This book was released on 2017-06-13 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Present state of the art advances, research and development in the area of unmanned aviation Educate faculty, students, scientists, engineers, researchers, practitioners, end users and the public about UAS Advance knowledge frontier in the area of UAS Couple technology advances with public policy, legal and ethical issues and privacy Provide the framework for integration of UAS into the national airspace design and build the next generation of unmanned systems that are safe, reliable and resilient

Download or read book Theory Design and Applications of Unmanned Aerial Vehicles written by A. R. Jha, Ph.D. and published by CRC Press. This book was released on 2016-11-18 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a complete overview of the theory, design, and applications of unmanned aerial vehicles. It covers the basics, including definitions, attributes, manned vs. unmanned, design considerations, life cycle costs, architecture, components, air vehicle, payload, communications, data link, and ground control stations. Chapters cover types and civilian roles, sensors and characteristics, alternative power, communications and data links, conceptual design, human machine interface, sense and avoid systems, civil airspace issues and integration efforts, navigation, autonomous control, swarming, and future capabilities.

Download or read book Multi Sensor Information Fusion written by Xue-Bo Jin and published by MDPI. This book was released on 2020-03-23 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes papers from the section “Multisensor Information Fusion”, from Sensors between 2018 to 2019. It focuses on the latest research results of current multi-sensor fusion technologies and represents the latest research trends, including traditional information fusion technologies, estimation and filtering, and the latest research, artificial intelligence involving deep learning.

Download or read book Drones for Biodiversity Conservation and Ecological Monitoring written by Ricardo Díaz-Delgado and published by MDPI. This book was released on 2019-12-18 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAV) have already become an affordable and cost-efficient tool to quickly map a targeted area for many emerging applications in the arena of ecological monitoring and biodiversity conservation. Managers, owners, companies, and scientists are using professional drones equipped with high-resolution visible, multispectral, or thermal cameras to assess the state of ecosystems, the effect of disturbances, or the dynamics and changes within biological communities inter alia. We are now at a tipping point on the use of drones for these type of applications over natural areas. UAV missions are increasing but most of them are testing applicability. It is time now to move to frequent revisiting missions, aiding in the retrieval of important biophysical parameters in ecosystems or mapping species distributions. This Special Issue shows UAV applications contributing to a better understanding of biodiversity and ecosystem status, threats, changes, and trends. It documents the enhancement of knowledge in ecological integrity parameters mapping, long-term ecological monitoring based on drones, mapping of alien species spread and distribution, upscaling ecological variables from drone to satellite images: methods and approaches, rapid risk and disturbance assessment using drones, mapping albedo with UAVs, wildlife tracking, bird colony and chimpanzee nest mapping, habitat mapping and monitoring, and a review on drones for conservation in protected areas.