SkyStitch: A Cooperative Multi-UAV-based Real-time Video Surveillance System with Stitching
SkyStitch: A Cooperative Multi-UAV-based Real-time Video Surveillance System with Stitching
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DOI：
10.1145/2733373.2806225
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发表时间：
2015-10
期刊：
影响因子：
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通讯作者：
Xiangyun Meng;Wei Wang;B. Leong
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文献类型：
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作者：
Xiangyun Meng;Wei Wang;B. Leong
无人驾驶飞行器（UAV）技术的最新进展已经使得部署空中视频监视系统以提供用于真实的时间的地面监视的前所未有的空中视角成为可能。需要多个无人机来覆盖大的目标区域，并且如果用户要接收多个不相交的视频流，则他们难以可视化整体情况。为了解决这个问题，我们设计并实现了SkyStitch，一个多无人机视频监控系统，通过将多个空中视频流拼接在一起，为用户提供单一的全景视频流。SkyStitch解决了两个关键的设计挑战：（i）缝合的高计算成本和（ii）在动态条件下确保良好缝合质量的困难。为了提高视频拼接的速度和质量，我们采用了几种实用的技术，如分布式特征提取，以减少地面站的工作量，使用来自飞行控制器的提示，以提高拼接效率和基于卡尔曼滤波器的状态估计模型，以减轻急动。我们的研究结果表明，SkyStitch可以实现比现有最先进方法快4倍的拼接速度，并提高感知拼接质量。我们还表明，SkyStitch可以很容易地实现使用商业现成的硬件。
Recent advances in unmanned aerial vehicle (UAV) technologies have made it possible to deploy an aerial video surveillance system to provide an unprecedented aerial perspective for ground monitoring in real time. Multiple UAVs would be required to cover a large target area, and it is difficult for users to visualize the overall situation if they were to receive multiple disjoint video streams. To address this problem, we designed and implemented SkyStitch, a multiple-UAV video surveillance system that provides a single and panoramic video stream to its users by stitching together multiple aerial video streams. SkyStitch addresses two key design challenges: (i) the high computational cost of stitching and (ii) the difficulty of ensuring good stitching quality under dynamic conditions. To improve the speed and quality of video stitching, we incorporate several practical techniques like distributed feature extraction to reduce workload at the ground station, the use of hints from the flight controller to improve stitching efficiency and a Kalman filter-based state estimation model to mitigate jerkiness. Our results show that SkyStitch can achieve a stitching rate that is 4 times faster than existing state-of-the-art methods and also improve perceptual stitching quality. We also show that SkyStitch can be easily implemented using commercial off-the-shelf hardware.