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2019 | OriginalPaper | Chapter

UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters

Authors : João P. Matos-Carvalho, André Mora, Raúl T. Rato, Ricardo Mendonça, José M. Fonseca

Published in: Technological Innovation for Industry and Service Systems

Publisher: Springer International Publishing

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Abstract

Knowing how to identify terrain types is especially important in the autonomous navigation, mapping, decision making and detect landings areas. A recent area is in cooperation and improvement of autonomous behavior between robots. For example, an unmanned aerial vehicle (UAV) is used to identify a possible landing area or used in cooperation with other robots to navigate in unknown terrains. This paper presents a computer vision algorithm capable of identifying the terrain type where the UAV is flying, using its rotors’ downwash effect. The algorithm is a fusion between the frequency Wiener-Khinchin adapted and spatial Empirical Mode Decomposition (EMD) domains. In order to increase certainty in terrain identification, machine learning is also used. The system is validated using videos acquired onboard of a UAV with an RGB camera.

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Title: UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters
Authors: João P. Matos-Carvalho
André Mora
Raúl T. Rato
Ricardo Mendonça
José M. Fonseca
Publisher: Springer International Publishing
Book: Technological Innovation for Industry and Service Systems
Print ISBN: 978-3-030-17770-6

Electronic ISBN: 978-3-030-17771-3

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-030-17771-3_7

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