NDLI: Water detection from downwash-induced optical flow for a multirotor UAV

Content Provider	IEEE Xplore Digital Library
Author	Pombeiro, Ricardo Mendonca, Ricardo Rodrigues, Paulo Marques, Francisco Lourenco, Andre Pinto, Eduardo Santana, Pedro Barata, Jose
Copyright Year	2015
Description	Author affiliation: CTS-UNINOVA, Universidade Nova de Lisboa (UNL), Portugal (Pombeiro, Ricardo; Mendonca, Ricardo; Rodrigues, Paulo; Marques, Francisco; Lourenco, Andre; Pinto, Eduardo; Barata, Jose) \|\| ISCTE - Instituto Universitário de Lisboa (ISCTEIUL), Portugal and Instituto de Telecomunicações, Portugal (Santana, Pedro)
Abstract	Terrains of different nature exhibit distinct structural dynamics when exposed to wind due to their own intrinsic material composition. This translates into peculiar optical flow patterns that can be used to identify the terrain type. In this sense, this paper proposes an active vision-based water detection model that exploits the predictable optical flow patterns induced by the downwash effect of vertical take-off and landing Unmanned Aerial Vehicles (UAV). To determine whether a water surface is below the UAV, the system tracks the optical flow in the video feed captured by a downward-looking camera. Then, an histogram of optical flow orientation is built and compared against a model histogram, given the expected effect induced by the downwash effect. The histograms are compared and similarity between both histograms is used as the likelihood of the terrain as being covered by water The resulting classification can be used to guide the landing of the UAV or to produce cost maps supporting ground vehicles' safe navigation. The model was successfully validated on 20 videos acquired with an hexacopter while hovering above sandy, grassy, and water-covered terrains.
Starting Page	1
Ending Page	6
File Size	17483373
Page Count	6
File Format	PDF
ISBN	9780933957435
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Optical imaging Histograms Optical sensors Tracking Cameras Vehicles Integrated optics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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