Supporting wilderness search and rescue using a camera-equipped mini UAV
Supporting wilderness search and rescue using a camera-equipped mini UAV
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DOI：
10.1002/rob.20226
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发表时间：
2008-01-01
影响因子：
8.3
通讯作者：
Humphrey, Curtis
中科院分区：
文献类型：
--
作者：
Goodrich, Michael A.;Morse, Bryan S.;Humphrey, Curtis
荒野搜索和救援 (WiSAR) 需要在崎岖不平的偏远地区进行大面积搜索。由于区域较大且地面搜索者的移动性可能有限，WiSAR 是使用小型（可载人）无人机 (UAV) 提供搜索区域航空图像的理想应用。本文对 WiSAR 问题进行了简要分析，重点关注基于视觉的空中搜索的实际问题。作为此分析的一部分，我们提出并分析了通用轮廓搜索算法，并将此搜索与现有的覆盖搜索相关联。除了实验室分析之外，搜救人员现场试验的经验教训表明，迫切需要改进无人机搜索的两个方面：如何向搜索者呈现视频信息以及如何将无人机技术集成到现有 WiSAR 团队中。针对第一个需求，比较了三种提高视频显示呈现效果的计算机视觉算法；结果表明，构建时间局部图像马赛克比稳定视频图像更有用。为了满足第二个需求，对 WiSAR 领域进行了目标导向的任务分析，并与现场观察相结合，以确定协调无人机操作员、有效载荷操作员、任务管理器和地面搜索人员的操作范式和现场策略。 (c) 2008 年 Wiley 期刊公司。
Wilderness Search and Rescue (WiSAR) entails searching over large regions in often rugged remote areas. Because of the large regions and potentially limited mobility of ground searchers, WiSAR is an ideal application for using small (human-packable) unmanned aerial vehicles (UAVs) to provide aerial imagery of the search region. This paper presents a brief analysis of the WiSAR problem with emphasis on practical aspects of visual-based aerial search. As part of this analysis, we present and analyze a generalized contour search algorithm, and relate this search to existing coverage searches. Extending beyond laboratory analysis, lessons from field trials with search and rescue personnel indicated the immediate need to improve two aspects of UAV-enabled search: How video information is presented to searchers and how UAV technology is integrated into existing WiSAR teams. In response to the first need, three computer vision algorithms for improving video display presentation are compared; results indicate that constructing temporally localized image mosaics is more useful than stabilizing video imagery. In response to the second need, a goal-directed task analysis of the WiSAR domain was conducted and combined with field observations to identify operational paradigms and field tactics for coordinating the UAV operator, the payload operator, the mission manager, and ground searchers. (c) 2008 Wiley Periodicals, Inc.