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 language | English (US) |
|---|---|
| Title of host publication | 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 |
| DOIs | |
| State | Published - 2013 |
| Event | 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 - Linkoping, Sweden Duration: Oct 21 2013 → Oct 26 2013 |
Other
| Other | 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 |
|---|---|
| Country | Sweden |
| City | Linkoping |
| Period | 10/21/13 → 10/26/13 |
Fingerprint
Keywords
- multirotor control
- Object Following
- Visual Servoing
ASJC Scopus subject areas
- Artificial Intelligence
- Safety, Risk, Reliability and Quality
Cite this
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 proceeding › Conference contribution
}
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 - multirotor control
KW - Object Following
KW - Visual Servoing
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
BT - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
ER -