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

João P. Matos-Carvalho; André Mora; Raul Tello Rato; Ricardo Mendonça; José M. Fonseca

doi:10.1007/978-3-030-17771-3_7

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

João P. Matos-Carvalho, André Mora, Raul Tello Rato, Ricardo Mendonça, José M. Fonseca

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

9 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 language	English
Title of host publication	Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings
Editors	Luis M. Camarinha-Matos, Ricardo Almeida, José Oliveira
Place of Publication	Cham
Publisher	Springer
Pages	83-90
Number of pages	8
ISBN (Electronic)	978-3-030-17771-3
ISBN (Print)	978-3-030-17770-6
DOIs	https://doi.org/10.1007/978-3-030-17771-3_7
Publication status	Published - 1 Jan 2019
Event	10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019 - Costa de Caparica, Portugal Duration: 8 May 2019 → 10 May 2019

Publication series

Name	IFIP Advances in Information and Communication Technology
Publisher	Springer
Volume	553
ISSN (Print)	1868-4238

Conference

Conference	10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019
Country/Territory	Portugal
City	Costa de Caparica
Period	8/05/19 → 10/05/19

Keywords

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

Access to Document

10.1007/978-3-030-17771-3_7

4-DoCEISAccepted author manuscript, 428 KB

Cite this

Matos-Carvalho, J. P., Mora, A., Rato, R. T., Mendonça, R., & Fonseca, J. M. (2019). UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters. In L. M. Camarinha-Matos, R. Almeida, & J. Oliveira (Eds.), Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings (pp. 83-90). (IFIP Advances in Information and Communication Technology; Vol. 553). Springer. https://doi.org/10.1007/978-3-030-17771-3_7

Matos-Carvalho, João P. ; Mora, André ; Rato, Raul Tello et al. / UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters. Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings. editor / Luis M. Camarinha-Matos ; Ricardo Almeida ; José Oliveira. Cham : Springer, 2019. pp. 83-90 (IFIP Advances in Information and Communication Technology).

@inproceedings{d53ec5e7fa684dd7b56b77aedd68aefa,

title = "UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters",

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{\textquoteright} 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.",

keywords = "EMD, Image processing, IMF, Machine learning, Terrain classification, UAV, Wiener-Khinchin",

author = "Matos-Carvalho, {Jo{\~a}o P.} and Andr{\'e} Mora and Rato, {Raul Tello} and Ricardo Mendon{\c c}a and Fonseca, {Jos{\'e} M.}",

note = "This work was partially funded by FCT Strategic Program UID/EEA/00066/203 of the Center of Technologies and System (CTS) of UNINOVA - Institute for the Development of new Technologies.; 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019 ; Conference date: 08-05-2019 Through 10-05-2019",

year = "2019",

month = jan,

day = "1",

doi = "10.1007/978-3-030-17771-3_7",

language = "English",

isbn = "978-3-030-17770-6",

series = "IFIP Advances in Information and Communication Technology",

publisher = "Springer",

pages = "83--90",

editor = "Camarinha-Matos, {Luis M.} and Ricardo Almeida and Jos{\'e} Oliveira",

booktitle = "Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings",

address = "Netherlands",

}

Matos-Carvalho, JP , Mora, A , Rato, RT , Mendonça, R & Fonseca, JM 2019, UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters. in LM Camarinha-Matos, R Almeida & J Oliveira (eds), Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings. IFIP Advances in Information and Communication Technology, vol. 553, Springer, Cham, pp. 83-90, 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Costa de Caparica, Portugal, 8/05/19. https://doi.org/10.1007/978-3-030-17771-3_7

UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters. / Matos-Carvalho, João P.; Mora, André ; Rato, Raul Tello et al.

Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings. ed. / Luis M. Camarinha-Matos; Ricardo Almeida; José Oliveira. Cham : Springer, 2019. p. 83-90 (IFIP Advances in Information and Communication Technology; Vol. 553).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters

AU - Matos-Carvalho, João P.

AU - Mora, André

AU - Rato, Raul Tello

AU - Mendonça, Ricardo

AU - Fonseca, José M.

N1 - This work was partially funded by FCT Strategic Program UID/EEA/00066/203 of the Center of Technologies and System (CTS) of UNINOVA - Institute for the Development of new Technologies.

PY - 2019/1/1

Y1 - 2019/1/1

N2 - 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.

AB - 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.

KW - EMD

KW - Image processing

KW - IMF

KW - Machine learning

KW - Terrain classification

KW - UAV

KW - Wiener-Khinchin

UR - http://www.scopus.com/inward/record.url?scp=85065718811&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-17771-3_7

DO - 10.1007/978-3-030-17771-3_7

M3 - Conference contribution

AN - SCOPUS:85065718811

SN - 978-3-030-17770-6

T3 - IFIP Advances in Information and Communication Technology

SP - 83

EP - 90

BT - Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings

A2 - Camarinha-Matos, Luis M.

A2 - Almeida, Ricardo

A2 - Oliveira, José

PB - Springer

CY - Cham

T2 - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019

Y2 - 8 May 2019 through 10 May 2019

ER -

Matos-Carvalho JP , Mora A , Rato RT , Mendonça R , Fonseca JM. UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters. In Camarinha-Matos LM, Almeida R, Oliveira J, editors, Technological Innovation for Industry and Service Systems - 10th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2019, Proceedings. Cham: Springer. 2019. p. 83-90. (IFIP Advances in Information and Communication Technology). https://doi.org/10.1007/978-3-030-17771-3_7

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

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this