Crowd detection and localization using a team of cooperative UAV/UGVs

Sara Minaeian, Jian Liu, Young Jun Son

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations


Unmanned vehicles (UVs) play a key role in autonomous surveillance missions. A major task that these UVs must undertake for such missions is to detect targets and track their locations. In this paper, a bi-level target-detection/localization algorithm based on computer vision is proposed to make use of different capabilities of UVs as a cooperative team. The considered scenario involves an unmanned aerial vehicle (UAV) and a team of multiple unmanned ground vehicles (UGVs), which track and control crowds in a border area collaboratively. A modified moving object detection algorithm is applied to track targets (i.e. crowds) from a camera mounted on a moving UAV. Due to UAV's lower resolution and its greater distance to the crowd, UGVs are used for target classification with higher resolution, to detect the pedestrians at the crowd's boundary at each time point. A new collaborative localization method is then proposed to transform the crowd's image positions to the real-world geographic locations. Finally, a testbed with an agent-based simulation model and real UVs is constructed to test the proposed system performance for both detection and localization algorithms. The preliminary results demonstrate the effectiveness of the proposed approach for autonomous surveillance using cooperative UAV and UGVs.

Original languageEnglish (US)
Title of host publicationIIE Annual Conference and Expo 2015
PublisherInstitute of Industrial Engineers
Number of pages10
ISBN (Electronic)9780983762447
StatePublished - 2015
EventIIE Annual Conference and Expo 2015 - Nashville, United States
Duration: May 30 2015Jun 2 2015

Publication series

NameIIE Annual Conference and Expo 2015


OtherIIE Annual Conference and Expo 2015
Country/TerritoryUnited States


  • Autonomous surveillance
  • Computer vision
  • Localization
  • UAV
  • UGV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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