Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles

Jesús Pestana, José Luis Sanchez-Lopez, Pascual Campoy, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

48 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
DOIs
StatePublished - 2013
Event2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 - Linkoping, Sweden
Duration: Oct 21 2013Oct 26 2013

Other

Other2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
CountrySweden
CityLinkoping
Period10/21/1310/26/13

Fingerprint

Unmanned aerial vehicles (UAV)
Global positioning system
Visual servoing
Railroad cars
Rotors
Lighting
Cameras
Experiments
Drones

Keywords

  • multirotor control
  • Object Following
  • Visual Servoing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

Cite this

Pestana, J., Sanchez-Lopez, J. L., Campoy, P., & Saripalli, S. (2013). Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles. In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 [6719359] https://doi.org/10.1109/SSRR.2013.6719359

Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles. / Pestana, Jesús; Sanchez-Lopez, José Luis; Campoy, Pascual; Saripalli, Srikanth.

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013. 2013. 6719359.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pestana, J, Sanchez-Lopez, JL, Campoy, P & Saripalli, S 2013, Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles. in 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013., 6719359, 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013, Linkoping, Sweden, 10/21/13. https://doi.org/10.1109/SSRR.2013.6719359
Pestana J, Sanchez-Lopez JL, Campoy P, Saripalli S. Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles. In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013. 2013. 6719359 https://doi.org/10.1109/SSRR.2013.6719359
Pestana, Jesús ; Sanchez-Lopez, José Luis ; Campoy, Pascual ; Saripalli, Srikanth. / Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles. 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013. 2013.
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