Using autonomous miniature air vehicles (MAVs) is a cost-effective, simple method for collecting data about the size, shape, and location characteristics of a forest fire. However, noise in measurements used to compute pose (location and attitude) of the on-board camera leads to significant errors in the processing of collected video data. Typical methods using MAVs to track fires attempt to find single geolocation estimates and filter that estimate with subsequent observations. While this is an effective method of resolving the noise to achieve a better geolocation estimate, it reduces a fire to a single point or small set of points. A georeferenced mosaic is a more effective method for presenting information about a fire to fire fighters. It provides a means of presenting size, shape, and geolocation information simultaneously. We describe a novel technique to account for uncertainty in pose estimation of the camera by converting it to the image domain. We also introduce a new concept, a Georeferenced Uncertainty Mosaic (GUM), in which we utilize a Sequential Monte Carlo method (a particle filter) to resolve that uncertainty and construct a georeferenced mosaic that simultaneously shows size, shape, geolocation, and uncertainty information about the fire.



College and Department

Ira A. Fulton College of Engineering and Technology; Electrical and Computer Engineering



Date Submitted


Document Type





MAV, UAV, forest fire tracking, mosaic, particle filter, remote sensing, computer vision, sequential monte carlo, MAGICC lab, infrared, geolocation, bayesian filtering