Uav image recognition technology and applications
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UAV Image RecognitionTechnology and Applications
The UT UAV GroupCockrell School of EngineeringThe University of Texas at Austin
Harmony Mones‐MurphyChockalingam Viswanathan
Tejas Kulkarni
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What is a UAV?
• The Department of Defense Dictionarydefines a UAV as:A powered, aerial vehicle that does not carry a human operator, uses aerodynamic forces to provide vehicle lift, can fly autonomously or be piloted remotely, can be expendable or recoverable, and can carry a lethal or nonlethal payload.
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Driving Technology• Powered heavier than air flight• Radio control (R/C)• Autopilots• GPS• Imagery systems• High density power batteries• Long range and low‐power micro radio devices• Miniaturized parts• Wireless networks• Powerful micro‐processors
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HISTORICAL FIRSTS
1898 1933
1903
1912
1918 1959
1960
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1898: First demonstration of radio‐control
Nikola Tesla’s “Teleautomaton,” a radio‐control boat
Electrical Exposition at Madison Square Garden
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1912: First autopilot
Elmer and Lawrence Sperry
• A gyrostabilizer hydraulically operated the elevators and rudder.
• Allowed the aircraft to fly straight and level without pilot input.
Curtiss B‐2
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1918: First radio‐controlled unmanned flight
Curtiss‐Sperry Aerial Torpedo
• Forerunner of the modern cruise missile.
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1959: First unmanned reconnaissance aircraft
Northrop Radioplane SD‐1 Falconer/Observer
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TYPES OF UAVS
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Fixed‐Wing
Northrop Grumman RQ‐4 Global Hawk
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Rotorcraft
Helicopter: Northrop Grumman MQ‐8 Fire Scout
Quadcopter Tiltrotor: Bell Eagle Eye
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PAYLOADS
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Electro‐optic Payload Systems
• Optical Cameras• Low‐light‐level
(LLL) Cameras• Thermal Imagers
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Radar Imaging Payloads
• Synthetic Aperture Radar(SAR)
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Dispensable Payloads
• Civil ‐ Pesticides
• Military – Missiles
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UT UAV
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Our Team
• Undergraduate• Interdisciplinary• Student leadership
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AUVSI Competition
• Student UAS Competition in Maryland
• Reconnaissance mission
• Fourth year of participation
• 1st in Autonomous Target Recognition in 2010
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Phoenix II
Imagery
AvionicsAirframe
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UT UAV Overview• Our Implementation
– Target Detection– Target Analysis– Position Determination
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Target Characteristics
• Position (LLA) • Background Shape• Background Color• Alphanumeric
Character• Alphanumeric Color• Orientation
4 to 8 feet
4 to 8 feet
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Target Detection
• Color‐based approach– Outlier image
• Exploit target attributes– Size, aspect ratio
• Implemented on DSP– Texas Instruments C6748
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Background Image
• Represent image in 3‐D color space– ,
• Image contains background and foreground
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Foreground Image
• Average RGB pixels in frame
• Compute distance from mean• Distance threshold determines potential targets
0 50 100 150 200 2550
0.02
0.04
0.06Red Plane
Per
cent
0 50 100 150 200 2550
0.02
0.04Green Plane
Per
cent
0 50 100 150 200 2550
0.02
0.04
Pixel Intensty
Blue Plane
Per
cent
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Outlier Image
• Potential targets highlighted in oultlierimage
Original Image Outlier Image
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Binary Image
• Remove noise ‐ windowed median filter• Label objects ‐ connected component
Binary Image Label Image
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Target Analysis
CroppedImage
Segmentation Skeleton BoundingRectangle Rotate Compare
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Target Detection Performance• Tested on scaled airfield and recorded video– Robust to trees, runways– Poor at detecting some colorsSpecification Performance
Speed 10 frames per second
Detection Accuracy* 85%
False Positive Rate 10%
* Accuracy = ratio of targets detected to total number of targets
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Results
Legend: Correct Incorrect Marginally Incorrect
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Target Position Determination
• Convert image coordinates to absolute position
• Position Accuracy– Maximum allowable error – 150 feet– Desired error – less than 50 feet
• Monte Carlo Error Analysis– Sweep camera 60 degrees in all directions from the vertical
– Estimate standard deviation of error
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Monte Carlo Error Analysis
-750 -500 -250 0 250 500 750 1000-1000
-750
-500
-250
0
250
500
750
1000Error Analysis (500 feet altitude)
feet
feet
Standard Deviation (feet)
15
20
25
30
35
40
45
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System Overview
Triangle J Purple
Yellow NW Lat Lon
Sony FCB EX‐980S
TexasInstruments
C6748
Target AnalysisLabVIEW
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Plans for 2012
• Communication– Switch to Wifi (802.11N)
• Digital camera (DSLR)
• Weight reduction
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Why UAVs?
• UAVs are suited for doing the “dull, dirty and dangerous” tasks of everyday life.
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Applications of UAVs in Texas
• Oil & gas• Wildfires• Ranching
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Oil & Gas
Use as a method to collect and transmit data between rigs
Use to check pipelines for leaks
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Wildfires
Bastrop County Wildfire
Aid Firefighters with real time information and firefighting
capability.
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Ranching
Check fences for holes
Use to track cattle/deer
Spraying crops with pesticide and fertilizer, monitoring crops, soil, moisture, and pest conditions, and insect sampling
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Safety
• Due to safety concerns there are strict regulations regarding the use of UAV’s in unrestricted airspace throughout the world.
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Air Systems Lab
• All the work done in the Air systems lab are undergraduate student projects, for various competitions.
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Q&A
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