Vol. 234, Issue 6, June 2019, pp. 30-36

Abstract: A location associated with a committed crime must be preserved, even before criminal experts start collecting and analyzing evidences. Indeed, crime scenes should be recorded with minimal human interference. In order to help specialists to accomplish this task, we propose an autonomous system for investigation of a crime scene using a drone. Our proposed autonomous system recognizes objects considered as important evidence at a crime scene, defining the trajectories through which a drone performs a detailed search. We used our previously proposed method, called Air- SSLAM, to estimate drone's pose, as well as proportional-integral-derivative controllers for aircraft stabilization. The goal is to make the drone fly through the paths defined by the objects recognized across the scene. At the end, the proposed system outputs a report containing a list of evidences, sketches, images and videos collected during the investigation. The performance of our system is assessed from a simulator, and a real- life drone system is being prepared to reach the goal.

Keywords: Criminal scene investigation, Object detection, SLAM, Autonomous drone, Self-localization.

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