Abstract
Abstract. A novel hardware independent real-time aerial image stabilization and mosaicing system is developed for mini UAV surveillance and remote sensing operations. In order to measure the quality of the constructed mosaics, several in-door and flight tests were performed. A novel mosaic quality measurement method utilizing 5 axis CNC for 3D positioning of the camera and printed high resolution aerial images for ground truth information is described. Results of the path following tests employing several state of art registration algorithms are provided. Mosaics constructed in real-time during flight tests are presented.
Highlights
Mini UAVs provide cost efficient, fast, flexible surveillance and mapping and can be deployed by using a mobile Ground Control Station with fewer crew requirements compared to conventional methods
Hardcopies of high resolution aerial images are printed in various dimensions ranging from 1x1 meter to 2x3 meter
Printed aerial images placed to the CNC base and CNC head utilized for following various paths
Summary
Mini UAVs provide cost efficient, fast, flexible surveillance and mapping and can be deployed by using a mobile Ground Control Station with fewer crew requirements compared to conventional methods. Several authors investigated image mosaics in order to address these issues and provide a natural way of real-time mapping (Morse et al 2008, Kumar et al 2001, Buyukyazi et al 2013). Specialized hardware can provide real-time processing speeds but it may not be suitable for installation in small size mini UAVs (Kumar et al 2001). Brief description of a novel hardware independent, real-time mosaicing and image stabilization system can be found at (Buyukyazi et al 2013) where real-time processing speeds were achieved by using Ground Control Station CPU and optimized algorithms adjusted for surveillance conditions
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