[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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Preface The book was motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that are developed during research and development projects. Nowadays, it can be observed a significant increase in a number of UAV applications. One of the main factors in the development of UAV is rapid progress of development of advanced sensory and considerable increase of computing power. Aerial observation is currently used for both military and civilian purposes. The variety of drones and their parameters gives almost unlimited possibilities in areas like vision surveillance, cartography, geodesy, cinematography or meteorology. Most if not all of these applications utilize some kind of vision based sensor like video camera, thermal imaging camera or laser range finders. Therefore it is essential to improve the existing general video acquisition devices and design and construct innovative dedicated for special purposes cameras. The amount of high and low frequencies disruptions is significantly greater than for traditional handheld cameras. It is a matter of high importance to design devices to reduce the impact in order to deliver proper video stream stabilization. Additionally bearing capacity of quick response class UAV is highly limited. Therefore video acquisition devices are required to be as light as possible but at the same time rugged and reliable. However, there is also a considerable group of vision based control algorithms that are used e.g. for target detection or collision-free navigation. It is worth mentioning about the task of controlling a group of mobile robots within line of sight. There is also an active field of classification of actions and patterns based on information often fused from multiple video stream sources. Finally the video stream has to be compressed and transmitted wirelessly from UAV to ground station over heterogeneous networks with different dynamically changing topologies. Main idea of visual surveillance is to detect any specified targets or abnormal situations in the line of sight. Targets can be detected due to their characteristic features e.g. face, character of movement, size, color or shape. Those features are detected, tracked and recognized by a dedicated set of algorithms processing images acquired from live video stream. Detection and recognition are usually a time consuming thus there is object tracking phase in the middle. The main challenge of such algorithms is to reconcile the tracking quality with simplicity required for real time processing. Regardless the application object recognition is an essential task for complex systems where a certain amount of system autonomy is required. The book contains
VIII Preface valuable information in the field of detection, tracking and recognition of objects. Presented challenges and solutions are the results of research conducted by the team. Nowadays, image acquisition devices are mainly used by human operators or large tactical or strategic class UAVs. Therefore there is a need for innovative video sources that are characterized by small weight, low energy consumption and at the same time high resistance to vibrations, shock and temperature. Traditionally used visible light cameras cover only a small part of the magnetic spectrum and are easily covered by dust, smoke, fog, etc. In order to continue aerial observation thermal imaging and omnidirectional cameras have to be used. It is commonly accepted that over 80% of all perceptual information being received by human brain is perceived through eyes. It is natural for control algorithms developers to try to utilize the information as it is done by both human and animal brains. Vision information can be utilized not only for control a single device but also for controlling a group of e.g. mobile robots. An alternative approach is to use aerial vision information for controlling detected and recognized objects on the ground. Main aim of design and construction of UAVs is their practical application. However, their design is a lengthy process and requires intensive evaluation using both simulation and experimental data. Even then, it is often necessary to apply amendments based on the actual real life experience of the application. Misrecognition can sometimes lead to irreversible consequences therefore in order to improve the quality of recognition frequently fusion of data from multiple sources of information is used. However it is worth mentioning that before the video stream from a camera mounted on an UAV it is necessary to wirelessly transmit to human operator using ground base station. In addition, video data transmission requires a significant network bandwidth. Communication over long distances is charged a considerable limitation in this regard. Therefore it is necessary to use a dedicated image and sound compression algorithms. The topics covered in this book also includes practical applications of classification algorithms used in video streams for UAV. This book is not only intended for researchers involved in image processing field. Aim of the book was to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists and researchers involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented. Furthermore the information included in the book can benefit greatly students of higher years of study in the fields of computer science, automation, robotics, mechanical engineering or data mining. The author strongly encourage all readers to explore the following chapters of the book and invite to open and honest discussion of any questions or concerns encountered during the lecture. Gliwice February 2012 Aleksander Nawrat Zygmunt Kuś
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Part III Design of Vision Based Con
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206 Practical Applications of Class
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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