This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and inertial devices to overcome the singularity which arises from the horizontal flight of UAV. Furthermore, it modifies the mathematical model of localization problem via separating linear parts from nonlinear parts and replaces a nonlinear least-squares problem with a linearly equality-constrained optimization problem. In order to avoid the ill-condition property near the optimal point of sequential unconstrained minimization techniques(penalty methods), it constructs a semi-implicit continuous method with a trust-region technique based on a differential-algebraic dynamical system to solve the linearly equality-constrained optimization problem. It also analyzes the global convergence property of the semi-implicit continuous method in an infinity integrated interval other than the traditional convergence analysis of numerical methods for ordinary differential equations in a finite integrated interval. Finally, the promising numerical results are also presented.
This paper presents an algorithm and the implementation of a motor schema to aid the visual localization subsystem of the ongoing EMILY project at Texas A and M University. The EMILY project aims to team an Unmanned Surface Vehicle (USV) with an Unmanned Aerial Vehicle (UAV) to augment the search and rescue of marine casualties during an emergency response phase. The USV is designed to serve as a flotation device once it reaches the victims. A live video feed from the UAV is provided to the casuality responders giving them a visual estimate of the USVs orientation and position to help with its…
KIOS Research and Innovation Center of Excellence（KIOS卓越研究与创新中心）；University of Cyprus（塞浦路斯大学）
Unmanned Aerial Vehicles (UAVs), equipped with camera sensors can facilitate enhanced situational awareness for many emergency response and disaster management applications since they are capable of operating in remote and difficult to access areas. In addition, by utilizing an embedded platform and deep learning UAVs can autonomously monitor a disaster stricken area, analyze the image in real-time and alert in the presence of various calamities such as collapsed buildings, flood, or fire in order to faster mitigate their effects on the environment and on human population. To this end, this pa…
The vast network of oil and gas transmission pipelines requires periodic monitoring for maintenance and hazard inspection to avoid equipment failure and potential accidents. The severe COVID-19 pandemic situation forced the companies to shrink the size of their teams. One risk which is faced on-site is represented by the uncontrolled release of flammable oil and gas. Among many inspection methods, the unmanned aerial vehicle system contains flexibility and stability. Unmanned aerial vehicles can transfer data in real-time, while they are doing their monitoring tasks. The current article focuse…
Research Centre on Interactive Media, Smart Systems and Emerging Technologies (RISE), Nicosia, Cyprus（塞浦路斯尼科西亚交互式媒体、智能系统与新兴技术研究中心（RISE））；Department of Computer Science, University of Cyprus, Nicosia, Cyprus（塞浦路斯尼科西亚塞浦路斯大学计算机科学系）
This paper describes preliminary work in the recent promising approach of generating synthetic training data for facilitating the learning procedure of deep learning (DL) models, with a focus on aerial photos produced by unmanned aerial vehicles (UAV). The general concept and methodology are described, and preliminary results are presented, based on a classification problem of fire identification in forests as well as a counting problem of estimating number of houses in urban areas. The proposed technique constitutes a new possibility for the DL community, especially related to UAV-based image…
Institute for Food and Agricultural Research and Technology（食品与农业研究技术研究所）
Monitoring of disasters is crucial for mitigating their effects on the environment and human population, and can be facilitated by the use of unmanned aerial vehicles (UAV), equipped with camera sensors that produce aerial photos of the areas of interest. A modern technique for recognition of events based on aerial photos is deep learning. In this paper, we present the state of the art work related to the use of deep learning techniques for disaster identification. We demonstrate the potential of this technique in identifying disasters with high accuracy, by means of a relatively simple deep l…
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. In this work, we propose a UAV system for real-time semantic inference and fusion of multiple sensor modalities. Semantic segmentation of LiDAR scans and RGB images, as well as object detection on RGB and thermal images, run online onboard the UAV computer using lightweight CNN architectures and embedded inference accelerators. We follow a late fusion approach where semantic information from mult…
Acquiring data to train deep learning-based object detectors on Unmanned Aerial Vehicles (UAVs) is expensive, time-consuming and may even be prohibited by law in specific environments. On the other hand, synthetic data is fast and cheap to access. In this work, we explore the potential use of synthetic data in object detection from UAVs across various application environments. For that, we extend the open-source framework DeepGTAV to work for UAV scenarios. We capture various large-scale high-resolution synthetic data sets in several domains to demonstrate their use in real-world object detect…
Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide area search and surveillance operations in unstructured outdoor environments. The critical issue with such environments is the lack of structured features that could aid in autonomous flight, such as road lines or paths. In this paper, we propose an End-to-End Multi-Task Regression-based Learning approach capable of defining flight commands for navigation and …
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest. Different modes of operation allow OpenREALM to perform simple stitching assuming an approximate plane ground, or to fully recover complex 3D surface information to extract both elevation maps and geometrically corrected orthophotos. Additionally, the global position of the UAV is used to georeference the data. In all modes incremental progress of the resul…
Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide applications, such as target detection and stabilization. This letter presents a vision-based autonomous UAM with a 3DoF robotic arm for rotational grasping, with a compensation on displacement for center of gravity. First, the hardware, software architecture and state estimation methods are detailed. All the mechanical designs are fully provided as open-source hardware…
UAV (Unmanned Aerial Vehicles): Diverse Applications of UAV Datasets in Segmentation, Classification, Detection, and Tracking
Silicon Orchard Research and Analytics Lab（Silicon Orchard 研究与分析实验室）；Daffodil International University（水仙花国际大学）；BRAC University（BRAC 大学）；Texas Tech University（德克萨斯理工大学）；Clark Atlanta University（克拉克亚特兰大大学）
Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community to focus on object detection tasks on aerial images. As a result of this, several aerial datasets have been introduced, including visual data with object annotations. UAVs are used solely as flying-cameras in these datasets, discarding different data types regarding the flight (e.g., time, location, internal sensors). In this work, we propose a multi-purpose…
This paper describes a system by which Unmanned Aerial Vehicles (UAVs) can gather high-quality face images that can be used in biometric identification tasks. Success in face-based identification depends in large part on the image quality, and a major factor is how frontal the view is. Face recognition software pipelines can improve identification rates by synthesizing frontal views from non-frontal views by a process call {\em frontalization}. Here we exploit the high mobility of UAVs to actively gather frontal images using components of a synthetic frontalization pipeline. We define a fronta…
The vigorous developments of Internet of Things make it possible to extend its computing and storage capabilities to computing tasks in the aerial system with collaboration of cloud and edge, especially for artificial intelligence (AI) tasks based on deep learning (DL). Collecting a large amount of image/video data, Unmanned aerial vehicles (UAVs) can only handover intelligent analysis tasks to the back-end mobile edge computing (MEC) server due to their limited storage and computing capabilities. How to efficiently transmit the most correlated information for the AI model is a challenging top…
Texas A&M University（德州农工大学）；Kwai Inc.（快手公司）；The University of Texas at Austin（德克萨斯大学奥斯汀分校）
Unmanned Aerial Vehicles (UAVs) based video text spotting has been extensively used in civil and military domains. UAV's limited battery capacity motivates us to develop an energy-efficient video text spotting solution. In this paper, we first revisit RCNN's crop & resize training strategy and empirically find that it outperforms aligned RoI sampling on a real-world video text dataset captured by UAV. To reduce energy consumption, we further propose a multi-stage image processor that takes videos' redundancy, continuity, and mixed degradation into account. Lastly, the model is pruned and quant…
Czech Institute for Informatics, Robotics, and Cybernetics（捷克信息学、机器人学与控制论研究所）；Czech Technical University in Prague（布拉格捷克技术大学）
This paper describes the design and implementation of a ground-related odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia System on a Chip (SoC). The SoC features a hardware video encoder which is used to estimate the optical flow online. The optical flow is then used in combination with a distance sensor to estimate the vehicle's velocity. The proposed sensor is compared to a similar existing solution and evaluated in both indoor and outdoor environments.
Aerial tracking, which has exhibited its omnipresent dedication and splendid performance, is one of the most active applications in the remote sensing field. Especially, unmanned aerial vehicle (UAV)-based remote sensing system, equipped with a visual tracking approach, has been widely used in aviation, navigation, agriculture,transportation, and public security, etc. As is mentioned above, the UAV-based aerial tracking platform has been gradually developed from research to practical application stage, reaching one of the main aerial remote sensing technologies in the future. However, due to t…
Unmanned Aerial Vehicle (UAV)-Based Mapping of Iris Pseudacorus L. Invasion in Laguna del Sauce (Uruguay) Coast
Universidad Católica del Uruguay（乌拉圭天主教大学）；Instituto de Investigacion en Ciencias de la Computacion (ICC), UBA-CONICET（计算机科学研究所（ICC），布宜诺斯艾利斯大学-阿根廷国家科学技术研究委员会）；Universidad de Buenos Aires（布宜诺斯艾利斯大学）
Prince Sultan University（苏丹王子大学）；University of Carthage（迦太基大学）；Gaitech Robotics（盖泰克机器人公司）；Polytechnic Institute of Porto（波尔图理工学院）；Al-Imam Mohamed bin Saud University（伊玛目穆罕默德·本·沙特伊斯兰大学）
Unmanned Aerial Vehicles are increasingly being used in surveillance and traffic monitoring thanks to their high mobility and ability to cover areas at different altitudes and locations. One of the major challenges is to use aerial images to accurately detect cars and count them in real-time for traffic monitoring purposes. Several deep learning techniques were recently proposed based on convolution neural network (CNN) for real-time classification and recognition in computer vision. However, their performance depends on the scenarios where they are used. In this paper, we investigate the perf…
National University of Singapore（新加坡国立大学）；Temasek Laboratories（淡马锡实验室）
This paper describes the development of a novel algorithm to tackle the problem of real-time video stabilization for unmanned aerial vehicles (UAVs). There are two main components in the algorithm: (1) By designing a suitable model for the global motion of UAV, the proposed algorithm avoids the necessity of estimating the most general motion model, projective transformation, and considers simpler motion models, such as rigid transformation and similarity transformation. (2) To achieve a high processing speed, optical-flow based tracking is employed in lieu of conventional tracking and matching…
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. Here, we propose a UAV system for real-time semantic inference and fusion of multiple sensor modalities. Semantic segmentation of LiDAR scans and RGB images, as well as object detection on RGB and thermal images, run online onboard the UAV computer using lightweight CNN architectures and embedded inference accelerators. We follow a late fusion approach where semantic information from multiple sen…
Université de Moncton（蒙克顿大学）；Universidad Técnica Federico Santa María（费德里科圣玛丽亚技术大学）
Wildfires represent an important natural risk causing economic losses, human death and important environmental damage. In recent years, we witness an increase in fire intensity and frequency. Research has been conducted towards the development of dedicated solutions for wildland and forest fire assistance and fighting. Systems were proposed for the remote detection and tracking of fires. These systems have shown improvements in the area of efficient data collection and fire characterization within small scale environments. However, wildfires cover large areas making some of the proposed ground…
University Politehnica of Bucharest（布加勒斯特理工大学）；Autonomous Systems（自治系统公司）
This paper addresses the problem of building a speech recognition system attuned to the control of unmanned aerial vehicles (UAVs). Even though UAVs are becoming widespread, the task of creating voice interfaces for them is largely unaddressed. To this end, we introduce a multi-modal evaluation dataset for UAV control, consisting of spoken commands and associated images, which represent the visual context of what the UAV "sees" when the pilot utters the command. We provide baseline results and address two research directions: (i) how robust the language models are, given an incomplete list of …
German Aerospace Center (DLR)（德国航空航天中心（DLR））；Skolkovo Institute of Science and Technology (Skoltech)（斯科尔科沃科学技术研究院（Skoltech））；Technical University of Munich（慕尼黑工业大学）
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertial sensors, an object tracking algorithm and a pre-generated object database. As the virtual reality has to closely match the real remote scene, we propose an extension of a marker tracking algorithm with visual-inertial odometry. Both indoor and outdoor experiments show benefits of our proposed syst…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong GPS signal is not always available, and it can degrade or fully loss underneath large structures or close to power lines, which can cause serious control issues or even UAV crashes. Such limitations highly restricted the applications of UAV as a routine inspection tool in various domains. In this paper a vision-model-based real-time self-positioning method is …
During the past decade, the Unmanned-Aerial-Vehicles (UAVs) have attracted increasing attention due to their flexible, extensive, and dynamic space-sensing capabilities. The volume of video captured by UAVs is exponentially growing along with the increased bitrate generated by the advancement of the sensors mounted on UAVs, bringing new challenges for on-device UAV storage and air-ground data transmission. Most existing video compression schemes were designed for natural scenes without consideration of specific texture and view characteristics of UAV videos. In this work, we first contribute a…
With the increase in use of Unmanned Aerial Vehicles (UAVs)/drones, it is important to detect and identify causes of failure in real time for proper recovery from a potential crash-like scenario or post incident forensics analysis. The cause of crash could be either a fault in the sensor/actuator system, a physical damage/attack, or a cyber attack on the drone's software. In this paper, we propose novel architectures based on deep Convolutional and Long Short-Term Memory Neural Networks (CNNs and LSTMs) to detect (via Autoencoder) and classify drone mis-operations based on sensor data. The pro…
Advancements in artificial intelligence (AI) gives a great opportunity to develop an autonomous devices. The contribution of this work is an improved convolutional neural network (CNN) model and its implementation for the detection of road cracks, potholes, and yellow lane in the road. The purpose of yellow lane detection and tracking is to realize autonomous navigation of unmanned aerial vehicle (UAV) by following yellow lane while detecting and reporting the road cracks and potholes to the server through WIFI or 5G medium. The fabrication of own data set is a hectic and time-consuming task. …
