TY - GEN
T1 - Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles
AU - Pestana, Jesús
AU - Sanchez-Lopez, José Luis
AU - Campoy, Pascual
AU - Saripalli, Srikanth
PY - 2013
Y1 - 2013
N2 - We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.
AB - We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.
KW - Object Following
KW - Visual Servoing
KW - multirotor control
UR - http://www.scopus.com/inward/record.url?scp=84894224375&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84894224375&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2013.6719359
DO - 10.1109/SSRR.2013.6719359
M3 - Conference contribution
AN - SCOPUS:84894224375
SN - 9781479908806
T3 - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
BT - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
T2 - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
Y2 - 21 October 2013 through 26 October 2013
ER -