ICUAS'17 Paper Abstract


Paper WeC5.1

Olofsson, Jonatan (NTNU), Brekke, Edmund (NTNU), Johansen, Tor Arne (Norweigian Univ. Of Sci. & Tech.)

Cooperative Remote Sensing of Ice Using a Spatially Indexed Labeled Multi-Bernoulli Filter

Scheduled for presentation during the "Maritime and Coastal Applications of UASs" (WeC5), Wednesday, June 14, 2017, 16:40−17:00, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Sensor Fusion, Simulation, UAS Applications


In polar region operations, drift ice posi- tioning and tracking is useful for both scientific and safety reasons. Many sensors can be employed to gen- erate detections of sea ice, such as satellite-carried Synthetic Aperture Radar (SAR) and, recently, im- agery equipment carried by Unmanned Aerial Systems (UAS). Satellite-carried SAR has the advantage of being able to cover large areas and provide consistent imagery largely independent of weather, albeit at a relatively coarse resolution. Using UAS, the resolution and precision of the tracking can be locally improved. To track the large amount of individual objects present in an area as large as the Arctic, it is neces- sary to efficiently select and exclusively work with the objects in the relevant field-of-view. In this paper, a Spatially Indexed Labeled Multi-Bernoulli filter is pre- sented and applied to a tracking problem representing a mission setup for field-tests due this year. In the setup, satellite and UAS imagery is combined to provide real- time Multi-Target Tracking of sea ice objects. A brief introduction is given to the implementation of the proposed Spatially Indexed Labeled Multi-Bernoulli filter, which is made available under an Open Source license.



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