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4. Pyramidal and high spatial resolution airborne 
automatic image acquisition of minefields in the visible, 
near infra red and thermal infrared wavelengths 
In the project ARC were combined unmanned aerial 
helicopter. CAMCOPTER, two sensors providing four 
channels imaging and data fusion system, Fig. 9, (EC IST 
ARC, 2000). Several field missions (named Trials) were 
realised in he project in which were collected ground based 
and airborne images and data from different platforms 
(airplane Cesna-172R, helicopter Mi-8, sky lift Denka, 
helicopter Bell-206, armoured vehicle Wolf) and with 7 
electro optical sensors. For system implementation were 
selected two digital matrix cameras, one for visible green, 
visible red, near infrared and one for thermal infrared). 
    
2 
Figure 9. Unmanned aerial helicopter CAMCOPTER was 
approved as an efficient platform for automatic pyramidal 
image acquisition (EC IST ARC, 2000). 
In Trials in 2002 and 2003 were acquired by CAMCOPTER 
4 channel images, at heights above terrain from 30 to 900 m, 
over area of 2 —3 km! in regions of Pristeg and Glinska 
poljana, Fig. 1 and Fig. 2. Ground resolving distances were in 
range from 5 to 40 cm. 
In May 2003 was performed last aerial mapping campaign 
(minefield test) of the duration of two weeks, and final 
phases of the development and of validation of the project 
stared. Results of the ARC projects will be available at the 
end of the year 2003. 
5. Multisensor remote sensing system on board of 
helicopter Bell-206 
The spin-off result of project ARC is a multisensor airborne 
remote sensing system (Bajic, M., Tadic, T., 2002), Fig. 10. 
  
  
  
  
  
Figure 10. Three sensors are installed on board of helicopter 
Bell-206. 
This system uses digital electro-optical sensors, with 
computer controlled acquisition and GPS based navigation. 
The sensors are: 4 channels digital camera (MS-3100) for 
visible and near infrared wavelengths from 0.4 to 1.0 um, 
with optical objectives having focal lengths 17, 24 and 28 
mm; thermal infrared camera (THV-1000) for wavelengths 
8-14 um with 2 fields of view; hyper spectral line scanner 
with 99 channels for wavelengths 0.430 — 0.900 pum. For the 
mission planning, flight control and reporting were used 
digital moving map and real-time positioning of the platform 
by means of the GPS. The whole system is digital, 
interoperable and compatible with Mine information system 
(MIS) and GIS of CROMAC, based on MapInfo, see 
example Fig. 11. The system was used in several operational 
remote sensing mission (total route length about 180 km), 
and for the research inside of project ARC. Team of operators 
and interpreters was established and is available for the use, 
maintenance and development ofthe system. The efficiency, 
operational availability, and cost - benefit were assessed and 
the suitability of the system for considered purpose was 
approved, see example of minefield indicators at Fig. 12. 
  
Figure 11. Example of the corridor like mosaic of the part of 
access road in the mine suspected area. Mosaic is overlaid 
onto the scanned map at the scale 1:5 000. Overlapping in 
the flight direction can be up to 9094 for 130 m, the lowest 
flight height over mined areas. The single image covers 
approximately 90 x 70 m. 
  
Figure 12. Trenches are easily detectable at thermal infra red 
images collected by THV-1000 from 500 m above terrain as 
waved lines. They are reliable indicators of mined area. 
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