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

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

doi:10.1109/SSRR.2013.6719359

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

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

CLAS-NS: Earth and Space Exploration, School of (SESE)

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
DOIs	https://doi.org/10.1109/SSRR.2013.6719359
State	Published - Dec 1 2013
Event	2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 - Linkoping, Sweden Duration: Oct 21 2013 → Oct 26 2013

Publication series

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

Keywords

Object Following
Visual Servoing
multirotor control

ASJC Scopus subject areas

Artificial Intelligence
Safety, Risk, Reliability and Quality

Access to Document

10.1109/SSRR.2013.6719359

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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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, 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. (2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013). https://doi.org/10.1109/SSRR.2013.6719359

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