Reconnaissance and camp security missions with an Unmanned Aerial Vehicle (UAV) at the 2009 European Land Robots Trials (ELROB)

摘要

Results from two response missions at the 2009 European Land Robot Trials (ELROB) are presented. An unmanned aerial vehicle (UAV) in form of an Airrobot AR100-B is used in a reconnaissance and in a camp security scenario. The UAV is capable of autonomous waypoint navigation using onboard GPS processing. A digital video stream from the vehicle is used to create photo maps - also known as mosaicking - in real time at the operator station. This mapping is done using an enhanced version of Fourier Mellin based registration, which turns out to be very fast and robust.