Road Target Search and Tracking with Gimballed Vision Sensor on an Unmanned Aerial Vehicle

Download

index.pdf

Date

2012-07-01

Author

Skoglar, Per
Orguner, Umut
Tornqvist, David
Gustafsson, Fredrik

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

228
views

95
downloads

This article considers a sensor management problem where a number of road bounded vehicles are monitored by an unmanned aerial vehicle (UAV) with a gimballed vision sensor. The problem is to keep track of all discovered targets and simultaneously search for new targets by controlling the pointing direction of the vision sensor and the motion of the UAV. A planner based on a state-machine is proposed with three different modes; target tracking, known target search, and new target search. A high-level decision maker chooses among these sub-tasks to obtain an overall situational awareness. A utility measure for evaluating the combined search and target tracking performance is also proposed. By using this measure it is possible to evaluate and compare the rewards of updating known targets versus searching for new targets in the same framework. The targets are assumed to be road bounded and the road network information is used both to improve the tracking and sensor management performance. The tracking and search are based on flexible target density representations provided by particle mixtures and deterministic grids.

Subject Keywords

UAV surveillance, Sensor management, Path planning, Search theory, Road target tracking, Particle filter, Stochastic scheduling, Security and monitoring

URI

https://hdl.handle.net/11511/38988

Journal

REMOTE SENSING

DOI

https://doi.org/10.3390/rs4072076

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Biobjective route planning of an unmanned air vehicle in continuous space TEZCANER ÖZTÜRK, DİCLEHAN; Köksalan, Mustafa Murat (2023-02-01) We consider the route planning problem of an unmanned air vehicle (UAV) in a continuous space that is monitored by radars. The UAV visits multiple targets and returns to the base. The routes are constructed considering the total distance traveled and the total radar detection threat objectives. The UAV is capable of moving to any point in the terrain. This leads to infinitely many efficient trajectories between target pairs and infinitely many efficient routes to visit all targets. We use a two stage approa...
Vision-Based Detection and Distance Estimation of Micro Unmanned Aerial Vehicles Gökçe, Fatih; Üçoluk, Göktürk; Şahin, Erol; Kalkan, Sinan (MDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND, 2015-9) Detection and distance estimation of micro unmanned aerial vehicles (mUAVs) is crucial for (i) the detection of intruder mUAVs in protected environments; (ii) sense and avoid purposes on mUAVs or on other aerial vehicles and (iii) multi-mUAV control scenarios, such as environmental monitoring, surveillance and exploration. In this article, we evaluate vision algorithms as alternatives for detection and distance estimation of mUAVs, since other sensing modalities entail certain limitations on the environment...
Pedestrian tracking with an infrared sensor using road network information Skoglar, Per; Orguner, Umut; Tornqvist, David; Gustafsson, Fredrik (2012-02-14) This article presents a pedestrian tracking methodology using an infrared sensor for surveillance applications. A distinctive feature of this study compared to the existing pedestrian tracking approaches is that the road network information is utilized for performance enhancement. A multiple model particle filter, which uses two different motion models, is designed for enabling the tracking of both road-constrained (on-road) and unconstrained (off-road) targets. The lateral position of the pedestrians on th...
Traffic Event Related Blog Post Classification by Using Traffic Related Named Entities Dundar Unsal, A.; Tüydeş Yaman, Hediye; Karagöz, Pınar (2019-02-28) Real-time monitoring of traffic flow requires physical sensors to be deployed on road networks. Development of such systems might be impractical due to deployment costs of sensors on large scale networks. This study presents a method to extract traffic event related tweets from social streams in order to employ users of social media as human sensors of traffic conditions or events. The proposed method offers a cost effective way of monitoring events or conditions affecting traffic flow. The method consists ...
Modeling and simulation of a small-sized Tiltrotor UAV Çakıcı, Ferit; Leblebicioğlu, Mehmet Kemal (2012-10-01) Unmanned aerial vehicles (UAVs) are remotely piloted or self-piloted aircrafts that can carry cameras, sensors, communication equipment and other payloads. Tiltrotor UAVs provide a unique platform that fulfills the needs for ever-changing mission requirements, by combining the desired features of hovering like a helicopter and reaching high forward speeds like an airplane, which might be a force multiplier in the battlefield. In this paper, the conceptual design and aerodynamical model of a realizable small...

Citation Formats

P. Skoglar, U. Orguner, D. Tornqvist, and F. Gustafsson, “Road Target Search and Tracking with Gimballed Vision Sensor on an Unmanned Aerial Vehicle,” REMOTE SENSING, pp. 2076–2111, 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/38988.