UAV Image RecognitionTechnology and Applications The UT UAV Group Cockrell School of Engineering The University of Texas at Austin Harmony Mones‐Murphy Chockalingam Viswanathan Tejas Kulkarni
What is a UAV?• The Department of Defense Dictionary defines 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.
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
Background Image• Represent image in 3‐D color space – , • Image contains background and foreground
Foreground Image• Average RGB pixels in frame 0.06 Red Plane 0.04 P e rc en t 0.02 0 0 50 100 150 200 255 Green Plane 0.04 P erc e nt 0.02 0 0 50 100 150 200 255 Blue Plane 0.04 P erc e nt 0.02 0 0 50 100 150 200 255 Pixel Intensty• Compute distance from mean• Distance threshold determines potential targets
Outlier Image• Potential targets highlighted in oultlier image Original Image Outlier Image
Target Detection Performance• Tested on scaled airfield and recorded video – Robust to trees, runways – Poor at detecting some colors Specification Performance Speed 10 frames per second Detection Accuracy* 85% False Positive Rate 10% * Accuracy = ratio of targets detected to total number of targets
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