(Georgia Institute of Technology, 2005-01)
Johnson, Eric N.; Proctor, Alison A.; Ha, Jin-cheol; Tannenbaum, Allen R.
The design, development, and testing of an unmanned aerial vehicle (UAV) with automated capabilities is described: searching a prescribed area, identifying a specific building within that area based on a small sign located on one wall, and then identifying an opening into that building. This includes a description of the automated search system along with simulation and flight test results. Results include successful evaluation at the McKenna Military Operations in Urban Terrain flight test site.
(Georgia Institute of Technology, 2004)
Ha, Jin-cheol; Alvino, Christopher Vincent; Pryor, Gallagher D.; Niethammer, Marc; Johnson, Eric N.; Tannenbaum, Allen R.
In this paper, we describe fast implementations of optical flow and geometric active contours to reliably track flying vehicles. Given the position of the vehicle at time t-1, optical flow information is used to initially place an active contour in the basin of attraction of a region of interest in a given dynamical image at time t. For real-time tracking, fast convergence of the active contour as well as rapid computation of the optical flow are crucial. In this note, we describe algorithms that make fast tracking possible in this framework using only standard computing platforms.