Performance Analysis of Image Mosaicing Methods for Unmanned Aerial Vehicles

Today, Unmanned Aerial Vehicles (UAVs) have gained considerable importance, especially in the defense industry. Thanks to the cameras placed on these vehicles, a certain area can be explored for safety reasons. Various image processing techniques are used for this. Image mosaicing is one of these techniques. In this study, the effects of SIFT(Scale-Invariant Feature Transform), SURF(Speeded Up Robust Features), FAST(Features from Accelerated Segment Test) and Harris corner detector methods used for image mosaicing on images taken from unmanned aerial vehicles are tested and compared.


Prepared by Aykut Tahtırvancı, Akif Durdu

A New Approach to Mobile Robot Navigation in Unknown Environments

Several algorithms have been developed to help guide mobile robots in unknown environments.  Various kinds of Bug algorithms are available and each one these algorithms has an advantage over the others under different circumstances.  This paper introduces a new approach, the Diligent-Bug (D-Bug) algorithm, which is developed to enable a collision free navigation of robots in an unknown 2-dimensional environment. Static obstacles of arbitrary shapes have been considered to evaluate the developed algorithm. This algorithm also enables robots to avoid getting stuck in both local and global loops.


Prepared by Motuma Abafogi, Akif Durdu, Bayram Akdemir