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2007- 2012 Lumenera Corporation. All rights reserved.
05012012
Digital Cameras in Unmanned Aerial
Vehicles (UAV) for Military and
Commercial Uses
Lg11059 offers complete imaging solution for the growing UAV market
Architecture
The imaging subsystem of a UAV relies on a variety of
enabling technologies including sensors, computing
devices and wireless communications. A typical
platform would comprise of multiple digital cameras
that interface to a geospatial processor. Georeferenced
imaging data is distributed through a data networking
switch fabric, making system configuration simple,
extensible and flexible. The control computer is used
to trigger the camera, store and prepare images for
transmission while recording data such as camera
settings, altitude and position that are attached to
images as metadata. The data is then sent to the UAV
ground station via a state-of-the-art wireless network
capable of achieving real-time wireless data retrieval
of large files. Modern UAVs are capable of capturing
and streaming multi-megapixel, large format images
and metadata.
The imaging control computer is normally decoupled
from the flight control computer, with the two computers
exchanging information in real time. Flight path and
other mission requirements are programmed by ground
station engineers into the mission planning software
that feeds the autopilot with the data necessary to
direct and control the aircraft during the mission.
Multiple cameras can be combined into a unique
assembly to increase the sensing capabilities of the
UAV system. A modular mounting scheme allows for
multiple camera modules to be configured on a single
camera frame assembly to suit the need of a specific
mission. The multiple camera approach can be used to
acquire a mix of colour, false colour and monochrome
images covering the same target area. The cameras
optical axis must be parallel to one another and their
shutter synchronized to operate simultaneously. Image
processing is then used to fuse together the various
images to generate a single, highly detailed, color
image.
Background
An Unmanned Aerial Vehicle (UAV) is an aircraft that
flies without a human pilot onboard, controlled remotely
or flown autonomously via pre-programmed flight plans
or other automated guidance systems. Traditionally,
UAVs were largely deployed in military missions, but
are increasingly being adopted by civil applications
including firefighting, law enforcement, assessment of
natural disasters and environmental monitoring.
The modern UAV originated in the 1970s, motivated
by the militarys need for a safe way in which to fly
over high risk areas without endangering a pilots
life. These flying missions would also benefit from a
smaller, covert vehicle compared to a manned aircraft.
Engineers in the United States started experimenting
with smaller, slower, cheaper UAVs that mimicked
large model airplanes. Their most important feature
was the inclusion of small video cameras that could
send images to ground-based operators in real-time.
Work progressed through the 80s and early 90s as
vehicles became larger and more capable, leading to
a successful, wide deployment in the mid-90s. Thanks
to their reconnaissance and tactical capabilities, UAVs
are now a major component of the global war on
terrorism.
UAVs are extremely flexible devices, and can be used
for a variety of applications beyond current military,
counterterrorism and law enforcement requirements.
Technology development for civil applications began to
emerge in the 1990s. Today, a wide range of international
public service agencies and private corporations
rely on UAVs for diverse, civil and commercial uses.
UAVs are also an emerging business for the defence
industry with a large potential for growth, at a time when
the military worldwide is looking to cut back on big-
ticket purchases such as fighter jets and navy ships.
Combined with the aforementioned applications, the
demand for UAVs in general and imaging cameras in
particular is growing.
Multiple cameras are also used to acquire oblique
images, where typically one vertical and multiple
oblique cameras are used simultaneously. The images
produced by these systems allow for the three-
dimensional reconstruction of a scene. The unique
angles depicted in the images of ground features
provide axial information of vertical sides.
Multiple cameras can be positioned in an array to allow
full 180 high-definition snapshot images on the fly.
This means that the system can take a single picture
of an entire scene pulling vast amounts of information
from the captured image. The level of detail and
picture accuracy from this multi-camera approach far
exceeds what would be possible from a single camera
when combined with a wide angle lens, as a lens can
introduce aberrations and reduce the level of detail at or
near the edges of the image.
The downward facing cameras in the UAV can be
used for orthophotography applications, an aerial
photography technique that creates an image where
the scale is constant over the entire image. Because
the scale does not change with position on the image, it
is possible to make accurate measurements of angles,
areas and distances using relatively simple calculations.
For this technique to work, the downward facing camera
must be perfectly aligned to a 90 degree angle relative
to the ground.
LUMENERA SOLUTION SHEET WWW.LUMENERA.COM
7 CAPELLA COURT, OTTAWA, ON, CANADA K2E 8A7 | TEL (613) 736-4077 | FAX (613) 736-4071 | WWW.LUMENERA.COM | [email protected]
2007- 2012 Lumenera Corporation. All rights reserved.
05012012
High Resolution
High resolution sensors are required to provide the
level of detail needed from an aerial image. Higher
resolution cameras do not require stitching together
multiple lower resolution images to cover the same
geographic footprint. Image Stitching necessitates
multiple image manipulations so as to address proper
color balancing across all the images caused by
variations in light sensitivities in each camera and
pan-sharpening techniques to address the different
focal points of each image. The end result can be a
poorer quality image compared to a single, higher
resolution CCD.
One of the benefits of increased resolution is the need
for less aircraft flying lines to cover a target area that
in past required more. This translates into lower costs
and increased operational benefits. Also, missions
can be flown at higher altitudes while still capturing
the same level of detail needed for the tactical
assessments, a benefit for covert operations.
Reliable Camera Shutter
Electronic shuttering is required over mechanical
shuttering as the latter uses a mechanism that is
prone to early failure. Reliability is paramount in UAV
applications as failed military missions can have
significant costs implications or dire consequences
for troops on the battle field.
Global shutter is a necessity as it avoids image skew.
Superior Image Quality
The aerial imaging community utilizes the National
Imagery Interpretability Rating Scale (NIIRS) to define
and measure the quality of images and performance
of imaging systems. Through a process referred to
as rating an image, the NIIRS is used by imagery
analysts to assign a number which indicates the
interpretability of a given image. The NIIRS concept
provides a means to directly relate the quality of an
image to the interpretation tasks for which it may be
used. Although the NIIRS has been primarily applied
in the evaluation of aerial imagery, it provides a
systematic approach to measuring the quality of
photographic or digital imagery, the performance
of image capture devices and the effects of image
processing algorithms.
Image quality is the result of multiple design choices
in a digital camera. A larger sensor provides a means
to capture more light as a result of having larger
pixels. Better image quality is achieved more easily
with larger pixels on sensors. CCD sensors perform
better than CMOS sensors as the latter are noisier
and offer a lower dynamic range. A 35 mm CCD-
based digital sensor is required to provide the level
of image quality expected in a small form factor aerial
camera. For comparison, consumer cameras or cell
phone cameras use very small sensors with tiny
pixels and are based on CMOS technology which
cannot approach the level of quality required for UAV
applications.
Camera Requirements
It is caused by a difference in the exposure time
between the first and last row of the pixel array matrix
on the cameras sensor.
Smear can also occur with shutters that are not opaque
enough to block out all of the light. When a sensor
has a poor shutter, bright light can leak into the pixels
before the start of image integration, thus filling up the
pixel wells with electrons causing a light streak above
a bright portion of the image. If this same bright area
saturates the pixels, a downward smear can be seen
in the image as these pixels overflow into the sensors
shift registers when the image is being clocked out.
The end result is a streak below the bright area. When
combined, both of these artefacts can cause an entire
column of pixels to bloom white.
Image Format
Images must be acquired in a RAW format. A raw
image file contains the least processed output from
a digital cameras image sensor. This allows you to
see exactly what the camera is seeing, without losing
any information during processing. Raw images
give a great amount of flexibility by allowing users to
precisely control the brightness, contrast, sharpness
and other variables during image analysis, rather than
during image capture. Raw image files have 12 or 14-
bits of brightness information per pixel, as opposed
to the 8-bits per pixel in a JPEG compressed image,
and can render finer details due to the additional
information each pixel bit contains.
Cameras used on UAVs face a set of application requirements very specific to the industry. Traditionally,
airborne digital cameras have been subdivided into three specific categories:
Small format - cameras equipped with up to 16 megapixel sensors;
Medium format - cameras utilizing sensors between 16 and 50 megapixel; and
Large format - cameras deploying large sensors with more than 50 megapixel.
The line between small, medium, and large format sensors has shifted over time and will continue to shift or
even blur. For example, companies advertise medium format cameras that have a larger footprint than their
previous large format cameras. The definition was originally based on the size of the sensor. In past, a small
format (35 mm) camera sensor measured 24 x 36 mm, up to 60 x 90 mm was considered a medium format,
and everything bigger was large. Cost points across categories are also very fluid, opening new possibilities
as capabilities increase in what would have been otherwise considered entry level, small format cameras. To
further add to the confusion, a 35 mm sensor is considered small in the aerial camera industry, but large in
consumer and machine vision industries.
Small format cameras are usually: a) area array (full frame) cameras equipped with CCD or CMOS two-
dimensional arrays; and b) monochrome or coupled with mosaic RGB filters to produce colour images or IR
filters for false-colour images. Larger format cameras are typically used as stand-alone sensors for traditional
wide-area mapping applications or high altitude systems, while medium format cameras are often used to
augment LIDAR data.
There are a set of performance features that need to be taken into consideration when it comes to digital
cameras used in UAV applications. The rest of this document discusses those in detail.
LUMENERA SOLUTION SHEET WWW.LUMENERA.COM
7 CAPELLA COURT, OTTAWA, ON, CANADA K2E 8A7 | TEL (613) 736-4077 | FAX (613) 736-4071 | WWW.LUMENERA.COM | [email protected]
2007- 2012 Lumenera Corporation. All rights reserved.
05012012
Flexibility
System flexibility is particularly important to tailor
the performance of the UAV and keep costs under
control. This translates into the ability to provide
interchangeable cameras and lenses for a variety
of mission criteria. As discussed earlier, flexibility
can be achieved through the use of standard data
interfaces, which can be used in conjunction with a
common software architecture that supports a range
of cameras. This allows interchanging cameras
without having to rewrite the control software every
time improvements are made or a different camera
architecture is needed. This is very valuable for small
and medium-sized organizations which are coping
with a wide range of applications while trying to
reduce their operating costs.
Standard Data Interface
In order to allow a fast transfer of the image data,
the camera must be equipped with a high-speed
data interface. An industry standard data interface
will allow a mix-and-match of modules, each with a
specific function, for example the flight computer,
image storage, communication to ground controllers
just to name a few. The UAV requires efficient ways
to extract, process, analyze, store and distribute the
massive amounts of data that the latest generation of
high resolution cameras generate.
Gigabit Ethernet is a data network technology ideal for
UAV applications and commonly used today. Future
systems might come to rely on faster variants such as
10 Gigabit Ethernet as the race towards even higher
camera resolution and increased system capabilities
keeps progressing. Smaller UAV applications might
be satisfied with a single onboard computer using a
USB bus to communicate with peripherals including
the camera, especially with the advent of the USB 3.0
specification that presents data throughput rates that
exceed Gigabit Ethernet.
Blur-Free Images
The system needs to guarantee blur-free images
in each particular flight condition. Surrounding
conditions can vary wildly from mission to mission
with light levels, in particular, being unpredictable.
Lower light conditions require longer exposure times
to capture quality images from the camera, resulting
in a blur in the image as the UAV is in constant motion.
A highly sensitive camera allows for quick exposure
times to capture the same intensity in the images, and
even under low light conditions there is a guarantee of
blur-free images.
Low Noise
The sensitivity of a camera is dictated by the minimum
light signal needed by the sensor for detection. This
parameter is strongly influenced by the amount of noise
produced and present in the image. It is important for
cameras working in low light environments such as UAV
applications to have minimal noise so as to maximize
the light detection of the sensor. The noise of a camera
sets an ultimate limit on the camera sensitivity. Digital
cameras are therefore often compared using their
various noise specifications as noise is derived from
multiple sources. A low noise, high sensitivity camera
will perform best for UAV applications.
Fast Frame Rates
Superior cameras should offer the highest frame
rates possible for the desired resolution. Creating
imagery of a scene involves taking multiple images
that are then stitched together. Higher frame rate
image capture provides more flexibility in determining
how much overlap can be made available between
adjacent images, as a higher number of images can
be captured for a given flight speed. This parameter
must match the flight plan computer as the UAV speed
must be equivalent to how fast the camera can capture
images. For comparable altitude and field of view, a
camera with faster frame rates allows for higher UAV
travel speed, providing the benefits of shorter flight
times and increased covertness.
Large resolution and high frame rates must often
be traded off against each other in digital cameras.
Specialized image sensors that perform far beyond
the capabilities of comparable consumer-type
products are required in order to achieve both high
frame rates and large resolution. Finally, the cameras
data interface can also limit the resolution and frame
rates for UAV applications, as the volume of data
coming from the camera must be transported to the
other mission critical components in a timely manner.
Robust Construction
UAVs present a challenging operational environment
for digital cameras. They need to be robust enough
to sustain the shock and vibrations during operation
of the system. They must also be light and compact
enough to reduce the payload on the aircraft. These
stringent requirements can be pushed to extreme and
can lead to the use of military-grade components for
some applications. The cost of military UAVs is orders
of magnitude greater than that where their use in civil
applications does not make economic sense. For civil
applications, commercial grade cameras designed in
a robust and compact package are normally sufficient.
Even when it comes to military equipment there is a
definite trend toward using Commercial Off The Shelf
(COTS) components whenever possible as militaries
worldwide face tougher budget constraints, thus
opening the door to well made commercial cameras
for some military UAVs.
Lens Options
The increase in camera resolution presents a
challenge for manufacturers to supply lenses that will
support higher resolutions with the right performance
level. Improvements in camera technologies force
equivalent improvements in lens optics. As camera
resolution increases, distortions or aberrations in
the glass become much more apparent in poorer
quality lenses. For this reason, it is important as a lens
manufacturer to use higher quality glass within lenses
designated for use on higher resolution cameras.
The lens mount on a camera should have the right
mounting and control features to support a rich family
of quality lenses. Lens control for focus, iris and
zoom settings should be built right into the camera
so that settings can be adjusted either automatically
or remotely as scene conditions vary throughout the
mission.
LUMENERA SOLUTION SHEET WWW.LUMENERA.COM
7 CAPELLA COURT, OTTAWA, ON, CANADA K2E 8A7 | TEL (613) 736-4077 | FAX (613) 736-4071 | WWW.LUMENERA.COM | [email protected]
2007- 2012 Lumenera Corporation. All rights reserved.
05012012
Lumeneras Lg11059 Camera
The Lg11059 is an 11 megapixel camera that provides 5 fps at full 4008 x 2672 resolution. This industrial-grade
camera with a 35 mm high resolution CCD sensor and a fully integrated Canon EF lens controller makes it an
ideal solution for demanding environments such as UAVs. Additionally, a fully global electronic shutter takes
a snapshot at a precise moment where all rows are captured at the same time and light intensity, resulting in
high-speed images with zero blur.
The Lg11059 camera utilizes its high quality CCD sensor to its maximum by providing either vivid color or
very sensitive visible light and near IR monochromatic images. Full streaming of uncompressed video along
with still image captures are easily controlled through our standard API interface or through the GigE Vision
interface. Region of interest and binning modes allow the camera to run at faster frame rates (14 fps at 640 x
480 resolution) while providing only the needed image data. Image capture synchronization is achieved using
either a hardware or software trigger, and is complemented by 32 MB of on board memory for frame buffering
to ensure image delivery.
The robust and compact design of the Lg11059, measuring 76.2 x 76.2 x 82.6 mm, makes it ideal for
installation into compact systems where space is at a premium. The fully locking Gigabit Ethernet cabling,
power connector and digital I/O interface ensure a simple plug-and-play installation, minimizing camera clutter
with only one standard cable. Simplified I/O cabling is provided through a locking Hirose connector supporting
4 output and 3 input ports that can be automatically or manually controlled through software. The use of locking
connector ensures reliable operation even under high vibration environment. The camera is void of fans or
cooling holes further increasing reliability.
SDK Application
The Lumenera Camera SDK provides a full suite of features and functions that allow you to maximize the
performance of your camera within your application. The SDK is compatible with all USB and GigE based
cameras. Microsoft DirectX/DirectShow, Windows API and .NET API interfaces are provided allowing you the
choice of application development environments from C/C++ to VB.NET or C#.NET. Full inline IntelliSense
autocompletion and documentation is provided with the .NET API interface and is accompanied by a full API
manual describing all the camera functions and properties.
Highlights
Lumeneras Lg11059 offers is an 11
megapixel camera that provides 5 fps at
full 4008 x 2672 resolution
Provides either vivid color or very sensitive
visible light and near IR monochromatic
images
Full streaming of uncompressed video
along with still image captures are easily
controlled
About Lumenera
Lumenera Corporation, a division of Roper
Industries, headquartered in Ottawa, Canada,
is a leading developer and manufacturer
of high performance digital cameras and
custom imaging solutions. Lumenera cameras
are used worldwide in a diverse range of
industrial, scientific and security applications.
Lumenera solutions provide unique
combinations of speed, resolution and
sensitivity in order to satisfy the most
demanding digital imaging requirements.
Lumenera customers achieve the benefit
of superior price to performance ratios and
faster time to market with the companys
commitment to high quality, cost effective
product solutions.
For further information about Lumenera,
please visit www.lumenera.com