Abstract
The automation of the Wilderness Search and Rescue (WiSAR) task aims for high levels of understanding of various scenery. In addition, working in unfriendly and complex environments may cause a time delay in the operation and consequently put human lives at stake. In order to address this problem, Unmanned Aerial Vehicles (UAVs), which provide potential support to the conventional methods, are used. These vehicles are provided with reliable human detection and tracking algorithms; in order to be able to find and track the bodies of the victims in complex environments, and a robust control system to maintain safe distances from the detected bodies. In this paper, a human detection based on the color and depth data captured from onboard sensors is proposed. Moreover, the proposal of computing data association from the skeleton pose and a visual appearance measurement allows the tracking of multiple people with invariance to the scale, translation and rotation of the point of view with respect to the target objects. The system has been validated with real and simulation experiments, and the obtained results show the ability to track multiple individuals even after long-term disappearances. Furthermore, the simulations present the robustness of the implemented reactive control system as a promising tool for assisting the pilot to perform approaching maneuvers in a safe and smooth manner.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference75 articles.
1. UAV Data Processing for Large Scale Topographical Mapping;Tampubolon;ISPRS Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci.,2014
Cited by
37 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献