Engineering Commons^™

Particle Filter Based Mosaicking For Forest Fire Tracking, Justin Mathew Bradley

Theses and Dissertations

Using autonomous miniature air vehicles (MAVs) is a cost-effective, simple method for collecting data about the size, shape, and location characteristics of a forest fire. However, noise in measurements used to compute pose (location and attitude) of the on-board camera leads to significant errors in the processing of collected video data. Typical methods using MAVs to track fires attempt to find single geolocation estimates and filter that estimate with subsequent observations. While this is an effective method of resolving the noise to achieve a better geolocation estimate, it reduces a fire to a single point or small set of points. …