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A cooperative perception system for multiple UAVs: Application to automatic detection of forest fires
Author(s) -
Merino Luis,
Caballero Fernando,
Martínezde Dios J.R.,
Ferruz Joaquín,
Ollero Aníbal
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20108
Subject(s) - perception , computer science , artificial intelligence , detector , sensor fusion , field (mathematics) , computer vision , set (abstract data type) , object detection , segmentation , real time computing , remote sensing , geography , telecommunications , mathematics , neuroscience , pure mathematics , biology , programming language
This paper presents a cooperative perception system for multiple heterogeneous unmanned aerial vehicles (UAVs). It considers different kind of sensors: infrared and visual cameras and fire detectors. The system is based on a set of multipurpose low‐level image‐processing functions including segmentation, stabilization of sequences of images, and geo‐referencing, and it also involves data fusion algorithms for cooperative perception. It has been tested in field experiments that pursued autonomous multi‐UAV cooperative detection, monitoring, and measurement of forest fires. This paper presents the overall architecture of the perception system, describes some of the implemented cooperative perception techniques, and shows experimental results on automatic forest fire detection and localization with cooperating UAVs. © 2006 Wiley Periodicals, Inc.