UAV or Drones for Remote Sensing Applications in GPS/GNSS Enabled and GPS/GNSS Denied Environments

The design of novel UAV systems and the use of UAV platforms integrated with robotic sensing and imaging techniques, as well as the development of processing workflows and the capacity of ultra-high temporal and spatial resolution data, have enabled a rapid uptake of UAVs and drones across several industries and application domains.This book provides a forum for high-quality peer-reviewed papers that broaden awareness and understanding of single- and multiple-UAV developments for remote sensing applications, and associated developments in sensor technology, data processing and communications, and UAV system design and sensing capabilities in GPS-enabled and, more broadly, Global Navigation Satellite System (GNSS)-enabled and GPS/GNSS-denied environments.Contributions include:UAV-based photogrammetry, laser scanning, multispectral imaging, hyperspectral imaging, and thermal imaging;UAV sensor applications; spatial ecology; pest detection; reef; forestry; volcanology; precision agriculture wildlife species tracking; search and rescue; target tracking; atmosphere monitoring; chemical, biological, and natural disaster phenomena; fire prevention, flood prevention; volcanic monitoring; pollution monitoring; microclimates; and land use;Wildlife and target detection and recognition from UAV imagery using deep learning and machine learning techniques;UAV-based change detection

A Comprehensive Review on Autonomous Navigation

The field of autonomous mobile robots has undergone dramatic advancements over the past decades. Despite achieving important milestones, several challenges are yet to be addressed. Aggregating the achievements of the robotic community as survey papers is vital to keep the track of current state-of-the-art and the challenges that must be tackled in the future. This paper tries to provide a comprehensive review of autonomous mobile robots covering topics such as sensor types, mobile robot platforms, simulation tools, path planning and following, sensor fusion methods, obstacle avoidance, and SLAM. The urge to present a survey paper is twofold. First, autonomous navigation field evolves fast so writing survey papers regularly is crucial to keep the research community well-aware of the current status of this field. Second, deep learning methods have revolutionized many fields including autonomous navigation. Therefore, it is necessary to give an appropriate treatment of the role of deep learning in autonomous navigation as well which is covered in this paper. Future works and research gaps will also be discussed

Distributed Robotic Vision for Calibration, Localisation, and Mapping

This dissertation explores distributed algorithms for calibration, localisation, and mapping in the context of a multi-robot network equipped with cameras and onboard processing, comparing against centralised alternatives where all data is transmitted to a singular external node on which processing occurs. With the rise of large-scale camera networks, and as low-cost on-board processing becomes increasingly feasible in robotics networks, distributed algorithms are becoming important for robustness and scalability. Standard solutions to multi-camera computer vision require the data from all nodes to be processed at a central node which represents a significant single point of failure and incurs infeasible communication costs. Distributed solutions solve these issues by spreading the work over the entire network, operating only on local calculations and direct communication with nearby neighbours. This research considers a framework for a distributed robotic vision platform for calibration, localisation, mapping tasks where three main stages are identified: an initialisation stage where calibration and localisation are performed in a distributed manner, a local tracking stage where visual odometry is performed without inter-robot communication, and a global mapping stage where global alignment and optimisation strategies are applied. In consideration of this framework, this research investigates how algorithms can be developed to produce fundamentally distributed solutions, designed to minimise computational complexity whilst maintaining excellent performance, and designed to operate effectively in the long term. Therefore, three primary objectives are sought aligning with these three stages

Advances in Robot Navigation

Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics

Autocalibrating vision guided navigation of unmanned air vehicles via tactical monocular cameras in GPS denied environments

This thesis presents a novel robotic navigation strategy by using a conventional tactical monocular camera, proving the feasibility of using a monocular camera as the sole proximity sensing, object avoidance, mapping, and path-planning mechanism to fly and navigate small to medium scale unmanned rotary-wing aircraft in an autonomous manner. The range measurement strategy is scalable, self-calibrating, indoor-outdoor capable, and has been biologically inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals (particularly bats), designed to assume operations in previously unknown, GPS-denied environments. It proposes novel electronics, aircraft, aircraft systems, systems, and procedures and algorithms that come together to form airborne systems which measure absolute ranges from a monocular camera via passive photometry, mimicking that of a human-pilot like judgement. The research is intended to bridge the gap between practical GPS coverage and precision localization and mapping problem in a small aircraft. In the context of this study, several robotic platforms, airborne and ground alike, have been developed, some of which have been integrated in real-life field trials, for experimental validation. Albeit the emphasis on miniature robotic aircraft this research has been tested and found compatible with tactical vests and helmets, and it can be used to augment the reliability of many other types of proximity sensors

Agent-Based Lost Person Movement Modelling, Prediction and Search in Wilderness

In this research we investigate the problem of searching for a Lost Person (LP) in wilderness using an autonomous Unmanned Aerial Vehicle (UAV). The problem of search with a UAV is often treated as gridded environment search where the state of each grid (cell) is examined individually for the presence or absence of the target. However, this idealised way of search fails to exploit many potentially valuable dependencies and secondary cues — such as material deposited or left by the LP or topographical features such as natural tracks (trails) — which could significantly aid the search process. We discuss the need for such a system and review the current state-of-the-art work. Since key to a quick and successful search is a well defined initial distributions. We further argue the need to generate the initial distribution over the trajectory of the LP, not merely the end location, usually done in literature. We propose a search framework consisting of three key phases: information gathering, initial distribution generation and search. In the information gathering phase, we collect detailed information related to both the LP and the search environment. Then in the initial distribution generation phase, using the information gathered, we generate distribution over the LP’s trajectory using particles. Each particle represented by an agent model of LP movement with sampled parameters, navigating and interacting with the environment represented using data-sets in the form of terrain elevation, topography and vegetation. To ensure, the agent model is a good representation of the LP behaviour, we calibrate its parameters using the method called SMC2 . Finally in the Search phase, a UAV is deployed to explore the search area and detect the LP, any evidence features or changes in the environment. All information detected are localised and used to update the distribution over the LP trail until either the LP is located or the search is terminated

Recent Advances in Image Restoration with Applications to Real World Problems

In the past few decades, imaging hardware has improved tremendously in terms of resolution, making widespread usage of images in many diverse applications on Earth and planetary missions. However, practical issues associated with image acquisition are still affecting image quality. Some of these issues such as blurring, measurement noise, mosaicing artifacts, low spatial or spectral resolution, etc. can seriously affect the accuracy of the aforementioned applications. This book intends to provide the reader with a glimpse of the latest developments and recent advances in image restoration, which includes image super-resolution, image fusion to enhance spatial, spectral resolution, and temporal resolutions, and the generation of synthetic images using deep learning techniques. Some practical applications are also included

Robotic 3D Reconstruction Utilising Structure from Motion

Sensing the real-world is a well-established and continual problem in the field of robotics. Investigations into autonomous aerial and underwater vehicles have extended this challenge into sensing, mapping and localising in three dimensions. This thesis seeks to understand and tackle the challenges of recovering 3D information from an environment using vision alone. There is a well-established literature on the principles of doing this, and some impressive demonstrations; but this thesis explores the practicality of doing vision-based 3D reconstruction using multiple, mobile robotic platforms, the emphasis being on producing accurate 3D models. Typically, robotic platforms such as UAVs have a single on-board camera, restricting which method of visual 3D recovery can be employed. This thesis specifically explores Structure from Motion, a monocular 3D reconstruction technique which produces detailed and accurate, although slow to calculate, 3D reconstructions. It examines how well proof-of-concept demonstrations translate onto the kinds of robotic systems that are commonly deployed in the real world, where local processing is limited and network links have restricted capacity. In order to produce accurate 3D models, it is necessary to use high-resolution imagery, and the difficulties of working with this on remote robotic platforms is explored in some detail

Advances and Applications of Dezert-Smarandache Theory (DSmT) for Information Fusion (Collected works), Vol. 2

This second volume dedicated to Dezert-Smarandache Theory (DSmT) in Information Fusion brings in new fusion quantitative rules (such as the PCR1-6, where PCR5 for two sources does the most mathematically exact redistribution of conflicting masses to the non-empty sets in the fusion literature), qualitative fusion rules, and the Belief Conditioning Rule (BCR) which is different from the classical conditioning rule used by the fusion community working with the Mathematical Theory of Evidence. Other fusion rules are constructed based on T-norm and T-conorm (hence using fuzzy logic and fuzzy set in information fusion), or more general fusion rules based on N-norm and N-conorm (hence using neutrosophic logic and neutrosophic set in information fusion), and an attempt to unify the fusion rules and fusion theories. The known fusion rules are extended from the power set to the hyper-power set and comparison between rules are made on many examples. One defines the degree of intersection of two sets, degree of union of two sets, and degree of inclusion of two sets which all help in improving the all existing fusion rules as well as the credibility, plausibility, and communality functions. The book chapters are written by Frederic Dambreville, Milan Daniel, Jean Dezert, Pascal Djiknavorian, Dominic Grenier, Xinhan Huang, Pavlina Dimitrova Konstantinova, Xinde Li, Arnaud Martin, Christophe Osswald, Andrew Schumann, Tzvetan Atanasov Semerdjiev, Florentin Smarandache, Albena Tchamova, and Min Wang