Reducing Object Detection Uncertainty from RGB and Thermal Data for UAV Outdoor Surveillance

Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost platforms with flexible hardware configurations, as well as an increasing number of autonomous capabilities, including take-off, landing, object tracking and obstacle avoidance. However, little attention has been paid to how UAVs deal with object detection uncertainties caused by false readings from vision-based detectors, data noise, vibrations, and occlusion. In most situations, the relevance and understanding of these detections are delegated to human operators, as many UAVs have limited cognition power to interact autonomously with the environment. This paper presents a framework for autonomous navigation under uncertainty in outdoor scenarios for small UAVs using a probabilistic-based motion planner. The framework is evaluated with real flight tests using a sub 2 kg quadrotor UAV and illustrated in victim finding Search and Rescue (SAR) case study in a forest/bushland. The navigation problem is modelled using a Partially Observable Markov Decision Process (POMDP), and solved in real time onboard the small UAV using Augmented Belief Trees (ABT) and the TAPIR toolkit. Results from experiments using colour and thermal imagery show that the proposed motion planner provides accurate victim localisation coordinates, as the UAV has the flexibility to interact with the environment and obtain clearer visualisations of any potential victims compared to the baseline motion planner. Incorporating this system allows optimised UAV surveillance operations by diminishing false positive readings from vision-based object detectors

Multi-temporal Forest Cover Change and Forest Density Trend Detection in a Mediterranean Environment

The loss of forests along with the various types of shrubs in the Mediterranean region is seen as an important driver of climate change and has been repeatedly related with the observed land degradation and desertification in the region. Nevertheless, the extent of woody perennial vegetation cover (WPVC) and its density remain largely unclear. Here, we apply a series of algorithms and methods operationally used in Australia for large-scale WPVC mapping and monitoring and demonstrate their applicability in the Mediterranean region using a Spanish area as the trial site. Five Landsat TM and ETM+ images from various dates spanning 14 years are used to map changes in the extent of WPVC and to identify areas with a declining, stabilising or recovering trend. Results show that the applied methodology, which incorporates (i) preprocessing of the Landsat imagery, (ii) a canonical variate analysis to spectrally discriminate between woody and non-woody land cover types, (iii) a conditional probability network and (iv) spectral indices for mapping woody cover and density trend, is highly successful and well suited for use in Mediterranean environments. A rigorous accuracy assessment is undertaken producing overall accuracies above 97% for both woody and non-woody cover types and all dates. Results also show that in the area of study, the majority of WPVC disturbances were due to forest fires, which represent the region's most frequent natural and anthropogenic disturbance. This raises significant concerns about the future of the area's WPVC. Regeneration compensated to some degree for the high disturbance rates. Copyright © 2015 John Wiley & Sons, Ltd

The impact of surgical delay on resectability of colorectal cancer: An international prospective cohort study

AIM: The SARS-CoV-2 pandemic has provided a unique opportunity to explore the impact of surgical delays on cancer resectability. This study aimed to compare resectability for colorectal cancer patients undergoing delayed versus non-delayed surgery. METHODS: This was an international prospective cohort study of consecutive colorectal cancer patients with a decision for curative surgery (January-April 2020). Surgical delay was defined as an operation taking place more than 4 weeks after treatment decision, in a patient who did not receive neoadjuvant therapy. A subgroup analysis explored the effects of delay in elective patients only. The impact of longer delays was explored in a sensitivity analysis. The primary outcome was complete resection, defined as curative resection with an R0 margin. RESULTS: Overall, 5453 patients from 304 hospitals in 47 countries were included, of whom 6.6% (358/5453) did not receive their planned operation. Of the 4304 operated patients without neoadjuvant therapy, 40.5% (1744/4304) were delayed beyond 4 weeks. Delayed patients were more likely to be older, men, more comorbid, have higher body mass index and have rectal cancer and early stage disease. Delayed patients had higher unadjusted rates of complete resection (93.7% vs. 91.9%, P = 0.032) and lower rates of emergency surgery (4.5% vs. 22.5%, P < 0.001). After adjustment, delay was not associated with a lower rate of complete resection (OR 1.18, 95% CI 0.90-1.55, P = 0.224), which was consistent in elective patients only (OR 0.94, 95% CI 0.69-1.27, P = 0.672). Longer delays were not associated with poorer outcomes. CONCLUSION: One in 15 colorectal cancer patients did not receive their planned operation during the first wave of COVID-19. Surgical delay did not appear to compromise resectability, raising the hypothesis that any reduction in long-term survival attributable to delays is likely to be due to micro-metastatic disease

Remote sensing, geographic information systems (GIS) and Bayesian knowledge-based methods for monitoring land condition

This thesis considers various aspects of the use of remote sensing, geographical information systems and Bayesian knowledge-based expert system technologies for broad-scale monitoring of land condition in the Western Australian wheat belt.The use of remote sensing technologies for land condition monitoring in Western Australia had previously been established by other researchers, although significant limitations in the accuracy of the results remain. From a monitoring perspective, this thesis considers approaches for improving the accuracy of land condition monitoring by incorporating other data into the interpretation process.Digital elevation data provide one potentially useful source of information. The use of digital elevation data are extensively considered here. In particular, various methods for deriving variables relating to landform from digital elevation data and remotely sensed data are reviewed and new techniques derived.Given that data from a number of sources may need to be combined in order to produce accurate interpretations of land use/condition, methods for combining data are reviewed. Of the many different approaches available, a Bayesian approach is adopted.The approach adopted is based on relatively new developments in probabilistic expert systems. This thesis demonstrates how these new developments provide a unified framework for uniting traditional classification methods and methods for integrating information from other spatial data sets, including data derived from digital elevation models, remotely sensed imagery and human experts.Two applications of the techniques are primarily considered. Firstly, the techniques are applied to the task of salinity mapping/ monitoring and compared to existing techniques. Large improvements are apparent. Secondly, the techniques are applied to salinity prediction, an application not previously considered by other researchers in this domain. The results are encouraging. Finally limitations of the approach are discussed

The impact of surgical delay on resectability of colorectal cancer: An international prospective cohort study

AimThe SARS-CoV-2 pandemic has provided a unique opportunity to explore the impact of surgical delays on cancer resectability. This study aimed to compare resectability for colorectal cancer patients undergoing delayed versus non-delayed surgery.MethodsThis was an international prospective cohort study of consecutive colorectal cancer patients with a decision for curative surgery (January-April 2020). Surgical delay was defined as an operation taking place more than 4 weeks after treatment decision, in a patient who did not receive neoadjuvant therapy. A subgroup analysis explored the effects of delay in elective patients only. The impact of longer delays was explored in a sensitivity analysis. The primary outcome was complete resection, defined as curative resection with an R0 margin.ResultsOverall, 5453 patients from 304 hospitals in 47 countries were included, of whom 6.6% (358/5453) did not receive their planned operation. Of the 4304 operated patients without neoadjuvant therapy, 40.5% (1744/4304) were delayed beyond 4 weeks. Delayed patients were more likely to be older, men, more comorbid, have higher body mass index and have rectal cancer and early stage disease. Delayed patients had higher unadjusted rates of complete resection (93.7% vs. 91.9%, P = 0.032) and lower rates of emergency surgery (4.5% vs. 22.5%, P ConclusionOne in 15 colorectal cancer patients did not receive their planned operation during the first wave of COVID-19. Surgical delay did not appear to compromise resectability, raising the hypothesis that any reduction in long-term survival attributable to delays is likely to be due to micro-metastatic disease