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7/14/2019 Autonomous Quadricopter for Fire Detection Presenation
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Autonomous Quadricopter for Fire
Detection
By Sander Idelson
Project with Paper
7/14/2019 Autonomous Quadricopter for Fire Detection Presenation
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Presentation Outline
Introduction Why Use a Drone?
Drone Limitations
The Parrot AR Drone 2.0
Fire Detection
Control Algorithm
Future Work
Conclusion
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Introduction
In June 2013, a forest fire in Arizona killed 19 firefighters
The fire approached the team unexpectedly and theywere caught helpless
Goal – Program a drone to autonomously detect andtrack a forest fire
Keep fire fighters constantly aware of their surroundings
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Why Use a Drone? Cost is low ~$300-5,000
Equipped with many sensors, cameras Small computers on-board
Wireless communication
Small size
No danger to humans
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Drone Limitations
Laws Drones are not allowed above 400 feet
Some states do not allow drones
FAA regulation
Hot topic – people don’t “like” drones They are associated with attacks and spying
Weather and wind effect their use
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Parrot AR Drone 2.0
Commercial drone - $300
Quadricopter design – stable and light
Can be driven with iPhone, Android apps out-of-the-box
Huge development community
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Specifications
Weighs 0.96 lbs Made of carbon fiber and has protective foam
On-board 1 GHz Linux computer
2 color video cameras (720p and QVGA)
Full Inertial Measurement Unit
Broadcasts its own Wi-Fi network
Limits range
Extended with antenna Many other features
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Programming
Hayes Modem Commands – AT*Commands Programmable from any language
NodeJS – Javascript serverside platform – “Node-ar-drone” library by Felix Geisendörfer
Large open Source Community Tough to program everything with Javascript – Callback
functions, asynchronous
Python – “python-ardrone” library by Bastion Venthur
Easier language to use More support
Better for creating programs
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Calibration
Drone is inconsistent and prone to blowing around Time of turn calibrated for different angles
Linear and Quadratic functions were found (Quadwas better)
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Fire Detection
Infrared Camera Preferred choice
Hardware connection to on-board computer toocomplicated
Color video Use on-board cameras
Perform frame filtering with OpenCV and SimpleCVlibraries
Try a few different current algorithms
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Color Video Fire Detection
RGB Color Space Segmentation [15] - Binary Filter Worked for images, not as well in video
Depends on light
Rmean is often too low
RGB Static Thresholds [17] – Binary Filter
Needs to be calibrated to the amount of light Impractical for real world use
CIE L*a*b* Color Space Segmentation [14] – Binary Filter More uniform color space
Better results Frame Subtraction – Movement Filter
Fire flickers at roughly 10 Hz
Many more…
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Object Detection
Once image is filtered… SimpleCV has function called “findBlobs”
Take average position of 5 largest blobs because fire is sparse
2-D distance measurement to fire (rough estimate) Take image and find blobs Turn drone theta degrees Take another image and find blobs Perform , c is pixel distance, r is distance to fire
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Control System
Simple Control System Provides a base for a larger control system
Slides along fire at a safe distance
Just above tree line (~200 feet)
Sends GPS coordinates & video back to base Can be overridden to manual mode
Performs one or many of the fire detectionalgorithms
Checks if fire is moving with frame subtraction
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Future Work – Fire Detection
Equipment changes Infrared camera – ideally
Aligned dual color cameras for 3-D detection
Better, more complex algorithms
Statistical and fuzzy logic algorithms (referenced in paper) Motion modeling and flicker detection
Smoke detection
Improved processing speed
Perform processing on-board
Optimized code and algorithms
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Conclusion
Project lays foundation for a great control system More work is definitely needed
All of the code is shared on Github (Sanderi44/AR-Drone-Fire-Detection)
Would like to continue this project in the future If fire fighters had these drones helping them, it
could save lives and prevent tragedies like Arizona
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Questions?
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Sources J. Marshall, and J. Billeaud. "19 Firefighters Killed in Arizona Forest Fire." Yahoo! News. The Associated Press, 01 July 2013. Web. 24 July 2013.
<http://news.yahoo.com/19-firefighters-killed-arizona-forest-fire-165420995.html>.
"Wildfires - Dry, Hot and Windy."Environment Facts, Environment Science, Global Warming, Natural Disasters, Ecosystems, Green Living - National Geographic . NationalGeographic Society, n.d. Web. 24 July 2013. <http://environment.nationalgeographic.com/environment/natural-disasters/wildfires/>.
L. Epatko. "How Are Drones Used in the U.S.?" Web log post. PBS. PBS, 18 Apr. 2013. Web. 25 July 2013.
Parrot SA. N.p.: Parrot SA., n.d. AR.Drone 2.0. Parrot New Wi-fi Quadricopter- Specifications. Parrot SA, 2012. Web. 25 July 2013.
ARDrone API . Program documentation. ARDrone API . Vers. 2.0. Parrot DEVZONE, 2013. Web. 25 July 2013.
F. Geisendörfer, Node-ar-drone. Open-Source Computer software. GitHub. Vers. 2.0. Felix Geisendörfer, n.d. Web. 27 July 2013. <https://github.com/felixge/node-ar-drone>.
B. Venthur, Python-ardrone. Open-Source Computer software. GitHub. Vers. 1.0. Bastian Venthur, n.d. Web. 27 July 2013. <https://github.com/venthur/python-ardrone>.
OpenCV | OpenCV . Open-Source Computer software. OpenCV | OpenCV . Vers. 2.4.6. Itseez, 2013. Web. 27 July 2013. <http://opencv.org/>.
SimpleCV . Open-Source Computer software. SimpleCV . Sight Machine Inc., 2013. Web. 27 July 2013. <http://simplecv.org/>.
FFMPEG. Open-Source Computer software. FFmpeg . Vers. 2.0. N.p., n.d. Web. 27 July 2013. <http://www.ffmpeg.org/>.
T.H. Chen; P.H. Wu; Yung-Chuen Chiou, "An early fire-detection method based on image processing," Image Processing, 2004. ICIP '04. 2004 International Conferenceon , vol.3, no., pp.1707,1710 Vol. 3, 24-27 Oct. 2004
Toreyin, B.U.; Cetin, A.E., "Online Detection of Fire in Video," Computer Vision and Pattern Recognition, 2007. CVPR '07. IEEE Conference on , vol., no., pp.1,5, 17-22June 2007doi: 10.1109/CVPR.2007.383442
T. Celik, Kai-Kuang Ma, "Computer vision based fire detection in color images," Soft Computing in Industrial Applications, 2008. SMCia '08. IEEE Conference on , vol., no.,pp.258,263, 25-27 June 2008
T. Celik, "Fast and Efficient Method for Fire Detection Using Image Processing," ETRI Journal, vol. 32, no. 6, Dec. 2010, pp. 881-890.
T. Celik, Demirel, H.; Ozkaramanli, H.; Uyguroglu, M., "Fire Detection in Video Sequences Using Statistical Color Model," Acoustics, Speech and Signal Processing, 2006.ICASSP 2006 Proceedings. 2006 IEEE International Conference on , vol.2, no., pp.II,II, 14-19 May 2006
B.H. Cho; J.W. Bae; S.H. Jung, "Image Processing-Based Fire Detection System Using Statistic Color Model," Advanced Language Processing and Web InformationTechnology, 2008. ALPIT '08. International Conference on , vol., no., pp.245,250, 23-25 July 2008
S.Y. Foo, "A fuzzy logic approach to fire detection in aircraft dry bays and engine compartments," Industrial Electronics, IEEE Transactions on , vol.47, no.5, pp.1161,1171,Oct 2000
V. Vipin, "Image Processing Based Forest Fire Detection." International Journal of Emerging Technology and Advanced Engineering 2.2 (2012): 87-95.International Journal of Emerging Technology and Advanced Engineering . International Journal of Emerging Technology and Advanced Engineering. Web. 27 July 2013.
J. De la Riva, F. Pérez-Cabello& E. Chuvieco, (Eds) 2005 Proceedings of the 5th International Workshop on Remote Sensing and GIS Applications to Forest FireManagement: Fire Effects Assessment: 9-17 Universidad de Zaragoza. ISBN: 84-96214-52-4
L.Merino; Caballero, F.; Dios, J.R.M.-d.; Ollero, A., "Cooperative Fire Detection using Unmanned Aerial Vehicles," Robotics and Automation, 2005. ICRA 2005. Proceedingsof the 2005 IEEE International Conference on , vol., no., pp.1884,1889, 18-22 April 2005
7/14/2019 Autonomous Quadricopter for Fire Detection Presenation
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Image Sources
http://www.slashgear.com/parrot-ar-drone-wifi-helicopter-
gets-augmented-reality-iphone-control-0567744/ http://forums.nasioc.com/forums/showthread.php?p=387
47159 http://www.ljmu.ac.uk/NewsUpdate/viewarticle/500/
http://news.nationalgeographic.com/news/2013/13/130725-drone-uav-uas-disposable-wildfire-storm-chasers/ http://www.geekosystem.com/mecam-personal-
quadcopter/ http://www.maniacstore.com/Parrot-AR-Drone-2.0-Price-
In-India.html T. Celik, Demirel, H.; Ozkaramanli, H.; Uyguroglu, M.,"Fire Detection in Video Sequences Using StatisticalColor Model," Acoustics, Speech and Signal Processing,2006. ICASSP 2006 Proceedings. 2006 IEEE International Conference on , vol.2, no., pp.II,II, 14-19May 2006