Multiple Rotor UAVs Formation Flight and Its Application on Level Evaluation of Earthquake Damage

A multiple rotor UAVs (Unmanned Aerial Vehicle) based photograph and image analysis system for earthquake damage evaluation is proposed. In contrast to other system, our multiple UAVs can fly with typical rectangle, triangle, or pentagonal formation shape in vertical or horizontal hovering mode, splice images to construct a big scene picture, and make a texture analysis of the ground earthquake images. The image mosaic method of projective transformation, the photograph visual field model of signal UAV, and an integrated texture analysis method are all proposed to analyze and evaluate the damage level of the typical target on ground. The Gray Level Co-occurrence Matrix (GLCM) features, the Tamura texture feature, the Gabor wavelet feature, and the basic line and circle elements, are all considered in our system. An application of earthquake damage evaluation is shown in this paper. Many experiment results have proved the correctness and the validity of our proposed system and method.