A Multi-Task Distributed Vision System Embedded on a Hex-Rotorcraft UAV

In this paper, are presented the general architecture and implementation of a multi-task distributed vision system designed and embedded onboard a Hex-Rotorcraft UAV. The system uses multiple cheap heterogeneous cameras in order to perform various tasks such as: ground target pedestrian detection, tracking, creating panoramic images, video stabilization and streaming multiple data/video feeds over a wireless secure channel. In what follows, are discussed this multiagent architecture designed to provide our UAV with an embedded intelligent vision system using autonomous agents entrusted with managing the previously listed functionalities. In addition to the cheap set of USB and module cameras, the presented vision system is composed of a Local Data Processing Module connected to each camera and a Central Module used to control the overall system, process the regrouped data and streams it to the ground station. The overall vision system has been tested in real flights and is still under improvements. Keywords—multi-agent architecture; image processing; realtime systems; target detection; panoramic images; target following; unmanned aerial vehicles (UAVs); vision systems