Title :
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
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;
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
DOI :
10.1109/SSRR.2009.5424163
