Visibility-based UAV path planning for surveillance in cluttered environments

Survey of computer vision algorithms and applications for unmanned aerial vehicles

“…With the advances in computer vision algorithms and sensors, the concept of using aerial images just for photography and filming was changed to be used widely in more complex applications; such as thematic and topographic mapping of the terrain ( Ahmad et al, 2013;Cui, Lin, & Zhang, 2007;Li & Yang, 2012;Ma, Li, Tong, Wang, & Cheng, 2013;Tampubolon & Reinhardt, 2014 ); exploration of un reachable areas such as islands ( Ying-cheng et al, 2011 ), rivers ( Rathinam et al, 2007 ), forests ( Cui et al, 2014;Yuan, Liu, & Zhang, 2015a ) or oceans ( Sujit,Sousa,& Pereira,20 09a; 20 09b ); surveillance purposes ( Geng et al, 2014;Govindaraju, Leng, & Qian, 2014;Lilien et al, 2015;Semsch, Jakob, Pavlicek, & Pechoucek, 2009 ); and search and rescue operations after catastrophes ( Erdos et al, 2013;Kruijff et al, 2012;Waharte & Trigoni, 2010 ).…”

“…Furthermore, wide variety of different autonomous applications have been presented; such as autonomous take-off and landing ( Cabecinhas, Naldi, Marconi, Silvestre, & Cunha, 2010;Jung, Bang, & Lee, 2015;Lee, Su, Yeah, Huang, & Chen, 2014b;Sanchez-Lopez, Saripalli, Campoy, Pestana, & Fu, 2013 ), autonomous aerial refueling ( Aarti & Jimoh O, 2013;Campa, Napolitano, & Farvolini, 2009;Xufeng, Xinmin, & Xingwei, 2013;Yin et al, 2016 ), autonomous tracking ( Achtelik, Zhang, Kuhnlenz, & Buss, 2009;Lin, Lum, Chen, & Lee, 2009;Martínez Luna, 2013;Zhao, Fei, & Geng, 2013 ) or autonomous route planning ( Govindaraju et al, 2014;Kothari, Postlethwaite, & Gu, 2009;Sangyam, Laohapiengsak, Chongcharoen, & Nilkhamhang, 2010;Yamasaki, Sakaida, Enomoto, Takano, & Baba, 2007;Yang, Qi, Xiao, & Yong, 2014 ), where high levels of accuracy of localization, detection and tracking are required.…”

Review: Using Unmanned Aerial Vehicles (UAVs) as Mobile Sensing Platforms (MSPs) for Disaster Response, Civil Security and Public Safety

“…The use of Unmanned Aerial Vehicles (UAVs) in civil defence applications has increased due to their portability and low operational costs [67]. To spread the cost for procuring and operating such devices, further multiple agencies can cooperate and form a consortium [68] that shares resources and, more importantly, the data collected by these devices (such as imagery or live video feeds).…”

“…In [87] an off-line path planning algorithm for UAV swarms tasked to provide continuous and uninterrupted surveillance coverage over an area is proposed. Another problem class found in the literature is the so-called Watchman Routing Problem (WRP) which is similar to the TSP but considers line of sight visibility [67]. In [136] the Optimal WRP is discussed while [137] considers the WRP under limited visibility.…”

An Appearance-Based Tracking Algorithm for Aerial Search and Rescue Purposes

“…The recent and continuously increasing research in the field of Unmanned Aerial Vehicles (UAVs) has boosted them as suitable platforms for carrying sensors and computer systems in order to perform advanced tasks, such as terrain thematic and topographic mapping [1,2,3]; exploration of unreachable areas like islands [4], rivers [5], forests [6] or oceans [7]; for surveillance purposes [8,9]; for traffic monitoring [10], including the estimation of the traffic flow behavior [11], and traffic speed [12]; and search and rescue operations after disasters [13,14,15].…”