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Image processing in UAV

Obstrucle detection and path planning

Literature review
Xiaomin Guo and Feihong Yu
introduced a method of automatic
cell counting based on microscopic
images. Histogram information is
used to calculate adjustable lower
and upper threshold value.
Venkatalakshmi. B et al. presented a
method for automatic red blood cell
counting using hough transform.

Literature review
Vision-based Autonomous Landing of an
Unmanned Aerial Vehicle by Srikanth
Saripalli, James F. Montgomery_ and Gaurav
S. Sukhatme.
Fitzgerald, Daniel L. and Walker, Rodney A.
and Campbell, Duncan A. A Vision Based
Emergency Forced Landing System for an
Autonomous UAV. This paper introduces the
forced landing problem for UAVs and
presents the machine vision based
approach taken for this research.

Literature review
Multiple View Motion Estimation and
Control for Landing an Unmanned Aerial
Vehicle. The problem of using computer
vision to estimate the motion of an
unmanned aerial vehicle (UAV) relative to
a landing target has recently been an
active topic of research.
Templeton et al. investigated the landing
of aerial vehicle using model predictive
control technique.

Need for the current study


We must combine all the algorithms
efficiently so that we can detect and
segregate the objects in the scene.
We cannot have 10 or 20 sensors for
a single UAV it will increase the
complexity of the system and loss of
power is more too.

Objectives
Autonomous landing on elevated
surfaces.
Entering into buildings by analysing
the available spaces.

Feasibility analysis
Image processing in UAV in a part of
the online video processing where we
choose a random frame and apply a
threshold, then we segment the
image to obtain the objects from the
image.
We can program the UAV based on
the objects location in the image.

Scope of the project


Image processing based UAV is not
completely operational as it is there
is a manual intervention of a camera
and joystick.
It will reduce the man work time and
complexity of the work .

Proposed methodology
Image processing in UAV in a part of
the online video processing where we
choose a random frame and apply a
threshold, then we segment the
image to obtain the objects from the
image.
We can program the UAV based on
the objects location in the image.

Time-line of activities

Dec

Literature reviews
Previous papers
Outcome of the previous projects

Jan

Matlab image processing codes.


Algorithms and image processing
techniques

Feb

Image compression technique


Image segmentation technique

Mar

Integration with camera and controller

Apr

Implementation in real-time system

Major references

Srikanth Saripalli, James F. Montgomery and Gaurav S. Sukhatme , Vision-based


Autonomous Landing of an Unmanned Aerial Vehicle, University of Southern
California, Los Angeles, CA 90089-0781.
Colin T Theodore, Mark B Tischler, Precision Autonomous Landing Adaptive
Control Experiment (PALACE), 25th Army Science Conference, Orlando, Fl, Nov 2730, 2006.
Andrew Miller and Mubarak Shah and Don Harper, Landing a UAV on a Runway
Using Image Registration, University of Central Florida, 4000 Central Florida Blvd,
Orlando FL, 32816.
Todd Templeton, David Hyunchul Shim, Christopher Geyer, and S. Shankar Sastry,
Autonomous Vision-based Landing and Terrain Mapping Using an MPC-controlled
Unmanned Rotorcraft.
Accurate and Efficient Face Recognition from Video by Ognjen Arandjelovic Trinity
College University of Cambridge.
Achieving Illumination Invariance using Image Filters by Ognjen Arandjelovic,
Roberto Cipolla Department of Engineering, University of Cambridge.
Development of a vision-based ground target detection and tracking system for a
small unmanned helicopter by LIN Feng, LUM Kai-Yew, CHEN Ben M. & LEE Tong H.