Multi-UAV UWA video surveillance system

In this work, an autonomous surveillance system providing ultra wide angle (UWA) video information is presented using multi-UAV platform. Towards this end, a fleet of UAVs are initially deployed into appropriate formation (such as triangle, diamond, or line) with cameras pointing outwards to cover the region of interest (ROI). In aid of image processing technique, the UAVs formation will be further optimized using temporal as well as spatial information to achieve a decent overlap (20% is defined in this work from both information adequacy and utilization efficiency perspective) between any two adjacent video sources. Thereafter, videos separately captured will be stitched together forming an UWA video by extracting and matching feature points in the base station. Notably, a vision-feedback-formation-control (VFFC) closed-loop framework is proposed for better performance. In the end, an experiment is elaborated to illustrate the UWA video generated by the proposed system.