10 May 2005 A sensor management framework for autonomous UAV surveillance
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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.
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Morgan Ulvklo, Morgan Ulvklo, Jonas Nygards, Jonas Nygards, Jorgen Karlholm, Jorgen Karlholm, Per Skoglar, Per Skoglar, Jorgen Ahlberg, Jorgen Ahlberg, Jonas Nilsson, Jonas Nilsson, } "A sensor management framework for autonomous UAV surveillance", Proc. SPIE 5787, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications II, (10 May 2005); doi: 10.1117/12.605023; https://doi.org/10.1117/12.605023
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