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

51 Scopus citations

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 - Dec 1 2013
Event2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 - Linkoping, Sweden
Duration: Oct 21 2013Oct 26 2013

Publication series

Name2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013

Other

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

Keywords

  • Object Following
  • Visual Servoing
  • multirotor control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

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  • 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] (2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013). https://doi.org/10.1109/SSRR.2013.6719359