publication . Preprint . 2016

Autonomous navigation for low-altitude UAVs in urban areas

Castelli, Thomas; Sharghi, Aidean; Harper, Don; Tremeau, Alain; Shah, Mubarak;
Open Access English
  • Published: 25 Feb 2016
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel approach towards enabling safe operation of such vehicles in urban areas. Our method uses geodetically accurate dataset images with Geographical Information System (GIS) data of road networks and buildings provided by Google Maps, to compute a weighted A* shortest path from start to end locations of a mission. Weights represent the potential risk of injuries for individuals in all categories of land-use, i.e. flying over buildi...
free text keywords: Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Download from
22 references, page 1 of 2

[1] Cohenour et al., ”Camera models for the wright patterson air force base 2009,” IEEE Aerospace and Electronic Systems Magazine, 2015.

[2] Sheikh et al., ”Geodetic Alignment of Aerial Video Frames,” in Video Registration, Eds. Boston, 2003.

[3] Castelli et al., ”Moving object detection for unconstrained low-altitude aerial videos, a pose-independant detector based on Artificial Flow,” ISPA, 2015.

[4] Quigley et al., ”Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera,” ICRA, 2005.

[5] Kimura et al., ”Automatic extraction of moving objects from UAV-borne monocular images using multi-view geometric constraints,” IMAV, 2014.

[6] Teutsch et al., ”Evaluation of object segmentation to improve moving vehicle detection in aerial videos,” AVSS, 2014. [OpenAIRE]

[7] Xiao et al., ”Vehicle detection and tracking in wide field-of-view aerial video,” CVPR, 2010.

[8] Lin et al., ”Efficient detection and tracking of moving objects in geocoordinates,” Machine Vision and Applications, 2011.

[9] Rafi et al., ”Autonomous target following by unmanned aerial vehicles,” SPIE 6230, 2006.

[10] van Toll et al., ”Dynamically Pruned A* for re-planning in navigation meshes,” IROS, 2015.

[11] Xu et al., ”Real-time 3D navigation for autonomous vision-guided MAVs,” IROS, 2015.

[12] Dumble et al., ”Airborne Vision-Aided Navigation Using Road Intersection Features,” Journal of Intelligent & Robotic Systems, 2015.

[13] Pritt et al., ”Georegistration of multiple-camera wide area motion imagery,” IGARSS, 2012.

[14] Habbecke et al., ”Automatic registration of oblique aerial images with cadastral maps,” Trends and Topics in Computer Vision, 2010.

[15] Tchernykh, ”Optical flow navigation for an outdoor UAV using a wide angle mono camera and DEM matching,” IFAC, 2006.

22 references, page 1 of 2
Any information missing or wrong?Report an Issue