Airborne behaviour monitoring using Gaussian processes with map information

This paper proposes an airborne behaviour monitoring methodology of ground vehicles based on a statistical learning approach with domain knowledge given by road map information. To monitor and track the moving ground target using UAVs aboard a moving target indicator, an interactive multiple model (IMM) filter is firstly applied. {\color{red}The IMM filter consists of an on-road moving mode using a road-constrained filter and an off-road moving mode using a conventional filter.} Mode probability is also calculated from the IMM filter, and it provides deviation of the vehicle from the road. Then, a novel hybrid algorithm for anomalous behaviour recognition is developed using a Gaussian process regression on velocity profile along the one-dimensionalised position of the vehicle, as well as the deviation of the vehicle. To verify the feasibility and benefits of the proposed approach, a numerical simulation is performed using realistic car trajectory data in a city traffic.