{"id":{"repo_id":"byu","oai_identifier":"oai:scholarsarchive.byu.edu:etd-1982"},"canonical_url":"https://search.dev.ndltd.org/etd/byu/oai:scholarsarchive.byu.edu:etd-1982","repository":{"repo_id":"byu","name":"Brigham Young University","base_url":"https://scholarsarchive.byu.edu/do/oai/"},"display":{"title":"Particle Filter Based Mosaicking for Forest Fire Tracking","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Bradley, Justin Mathew"],"institution":"Brigham Young University - Provo","degree_name":"MS","degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":null,"date_issued":"","date_published":null,"updated_at":"2026-07-24T01:28:37Z","subjects":["MAV","UAV","forest fire tracking","mosaic","particle filter","remote sensing","computer vision","sequential monte carlo","MAGICC lab","infrared","geolocation","bayesian filtering","Electrical and Computer Engineering"],"languages":["English"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://scholarsarchive.byu.edu/etd/983","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Bradley, Justin Mathew"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2007-07-16T07:00:00Z"]},{"key":"dc:publisher","label":"Institution","values":["Brigham Young University - Provo"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["MS"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["MAV","UAV","forest fire tracking","mosaic","particle filter","remote sensing","computer vision","sequential monte carlo","MAGICC lab","infrared","geolocation","bayesian filtering","Electrical and Computer Engineering"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://scholarsarchive.byu.edu/etd/983","https://scholarsarchive.byu.edu/context/etd/article/1982/viewcontent/ETD_CISOPTR_1106.pdf"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Ira A. Fulton College of Engineering and Technology; Electrical and Computer Engineering"]},{"key":"dc:description.abstract","label":"Abstract","values":["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."]},{"key":"dc:format","label":"Dc Format","values":["application:pdf"]},{"key":"dc:source","label":"Dc Source","values":["Brigham Young University - Provo"]},{"key":"dc:title","label":"Title","values":["Particle Filter Based Mosaicking for Forest Fire Tracking"]}]}],"canonical_facts":{"dc:creator":["Bradley, Justin Mathew"],"dc:date":["2007-07-16T07:00:00Z"],"dc:description":["Ira A. Fulton College of Engineering and Technology; Electrical and Computer Engineering"],"dc:description.abstract":["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."],"dc:format":["application:pdf"],"dc:identifier":["https://scholarsarchive.byu.edu/etd/983","https://scholarsarchive.byu.edu/context/etd/article/1982/viewcontent/ETD_CISOPTR_1106.pdf"],"dc:language":["English"],"dc:publisher":["Brigham Young University - Provo"],"dc:source":["Brigham Young University - Provo"],"dc:subject":["MAV","UAV","forest fire tracking","mosaic","particle filter","remote sensing","computer vision","sequential monte carlo","MAGICC lab","infrared","geolocation","bayesian filtering","Electrical and Computer Engineering"],"dc:title":["Particle Filter Based Mosaicking for Forest Fire Tracking"],"dc:type":["Thesis"],"thesis:degree_name":["MS"]},"updated_at":"2026-07-24T01:28:37Z"}