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dc.contributor.authorHelgesen, Håkon Hagen
dc.contributor.authorLeira, Frederik Stendahl
dc.contributor.authorBryne, Torleiv Håland
dc.contributor.authorAlbrektsen, Sigurd Mørkved
dc.contributor.authorJohansen, Tor Arne
dc.description.abstractThis article considers real-time georeferencing using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera. A flexible system for direct georeferencing is proposed without the need for ground reference points. Moreover, as the system is tailored for highly maneuverable and agile fixed-wing UAVs, no restrictions on the motion are assumed. The system is designed with a solution for accurate time synchronization between sensors. This feature enables tracking of objects with low uncertainty. Sensors for navigation, permitting estimation of the UAV pose with a nonlinear observer, are employed in addition to a thermal camera. The estimated UAV pose is utilized in georeferencing to acquire Earth-fixed coordinates of objects. The main examples studied in this research are georeferencing of a static object and of a moving marine vessel. To obtain the desired accuracy, thermal camera calibration and compensation of mounting misalignment errors are discussed. The entire system is validated in two independent field experiments with a thorough analysis of the results. Georeferencing of a static object is conducted with centimeter accuracy when the average position of all measurements is used. The position of a moving marine vessel is obtained with mean accuracy of two meters.nb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.titleReal-time Georeferencing of Thermal Images using Small Fixed-Wing UAVs in Maritime Environmentsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.source.journalISPRS journal of photogrammetry and remote sensing (Print)nb_NO
dc.relation.projectNorges forskningsråd: 250725nb_NO
dc.relation.projectNorges forskningsråd: 269480nb_NO
dc.relation.projectNorges forskningsråd: 221666nb_NO
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2019. This is the authors’ accepted and refereed manuscript to the article. Locked until 6.6.2021 due to copyright restrictions. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
cristin.unitnameInstitutt for teknisk kybernetikk

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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal