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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)
1 Downloads (Pure)

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.

Original languageEnglish
Title of host publicationTechnological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings
EditorsLuis M. Camarinha-Matos, Ricardo Almeida, José Oliveira
Place of PublicationCham
PublisherSpringer
Pages83-90
Number of pages8
ISBN (Electronic)978-3-030-17771-3
ISBN (Print)978-3-030-17770-6
DOIs
Publication statusPublished - 1 Jan 2019
Event10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019 - Costa de Caparica, Portugal
Duration: 8 May 201910 May 2019

Publication series

NameIFIP Advances in Information and Communication Technology
PublisherSpringer
Volume553
ISSN (Print)1868-4238

Conference

Conference10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019
CountryPortugal
CityCosta de Caparica
Period8/05/1910/05/19

Keywords

  • EMD
  • Image processing
  • IMF
  • Machine learning
  • Terrain classification
  • UAV
  • Wiener-Khinchin

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