Supporting wilderness search and rescue using a camera-equipped mini UAV

• Published in: Journal of field robotics 2008-01, Vol.25 (1-2), p.89-110
• Main Authors: Goodrich, Michael A., Morse, Bryan S., Gerhardt, Damon, Cooper, Joseph L., Quigley, Morgan, Adams, Julie A., Humphrey, Curtis
• Format: Article
• Language: English
• ISSN: 1556-4959; 1556-4967
• DOI: 10.1002/rob.20226

Wilderness Search and Rescue (WiSAR) entails searching over large regions in often rugged remote areas. Because of the large regions and potentially limited mobility of ground searchers, WiSAR is an ideal application for using small (human‐packable) unmanned aerial vehicles (UAVs) to provide aerial imagery of the search region. This paper presents a brief analysis of the WiSAR problem with emphasis on practical aspects of visual‐based aerial search. As part of this analysis, we present and analyze a generalized contour search algorithm, and relate this search to existing coverage searches. Extending beyond laboratory analysis, lessons from field trials with search and rescue personnel indicated the immediate need to improve two aspects of UAV‐enabled search: How video information is presented to searchers and how UAV technology is integrated into existing WiSAR teams. In response to the first need, three computer vision algorithms for improving video display presentation are compared; results indicate that constructing temporally localized image mosaics is more useful than stabilizing video imagery. In response to the second need, a goal‐directed task analysis of the WiSAR domain was conducted and combined with field observations to identify operational paradigms and field tactics for coordinating the UAV operator, the payload operator, the mission manager, and ground searchers. © 2008 Wiley Periodicals, Inc.