Reconnaissance and camp security missions with an Unmanned Aerial Vehicle (UAV) at the 2009 European Land Robots Trials (ELROB)

Author

Birk, Andreas ; Wiggerich, Burkhard ; Bülow, Heiko ; Pfingsthorn, Max ; Schwertfeger, Sören

Author_Institution

Jacobs Univ. Bremen, Bremen, Germany

fYear

2009

Firstpage

1

Lastpage

6

Abstract

Results from two response missions at the 2009 European Land Robot Trials (ELROB) are presented. An unmanned aerial vehicle (UAV) in form of an Airrobot AR100-B is used in a reconnaissance and in a camp security scenario. The UAV is capable of autonomous waypoint navigation using onboard GPS processing. A digital video stream from the vehicle is used to create photo maps - also known as mosaicking - in real time at the operator station. This mapping is done using an enhanced version of Fourier Mellin based registration, which turns out to be very fast and robust.

Keywords

aerospace robotics; path planning; remotely operated vehicles; 2009 European Land Robots Trials; Airrobot AR100-B; Fourier-Mellin based registration; autonomous waypoint navigation; camp security; onboard GPS processing; reconnaissance mission; unmanned aerial vehicle; Geographic Information Systems; Global Positioning System; Jacobian matrices; Reconnaissance; Robots; Security; Signal processing; Simultaneous localization and mapping; Streaming media; Unmanned aerial vehicles; Autonomy; Mosaicking; Registration; Unmanned Aerial Vehicle (UAV); Visual SLAM;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security & Rescue Robotics (SSRR), 2009 IEEE International Workshop on

Conference_Location

Denver, CO

Print_ISBN

978-1-4244-5627-7

Electronic_ISBN

978-1-4244-5628-4

Type

conf

DOI

10.1109/SSRR.2009.5424163

Filename

5424163