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Chasing a moving target from a flying UAV
Abstract : This paper proposes a vision-based algorithm to autonomously track and chase a moving target with a small- size flying UAV. The challenging constraints associated with the UAV flight led us to consider a density-based representation of the object to track. The proposed approach to estimate the target's position, orientation and scale, is built on a robust color- based tracker using a multi-part representation. This object tracker can handle large displacements, occlusions and account for some image noise due to partial loss of wireless video link, thanks to the use of a particle filter. The information obtained from the visual tracker is then used to control the position and yaw angle of the UAV in order to chase the target. A hierarchical control scheme is designed to achieve the tracking task. Experiments on a quad-rotor UAV following a small moving car are provided to validate the proposed approach.
keyword :
Visual Servoing
Cited literature [23 references]
https://hal.inria.fr/hal-00639702
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, November 9, 2011 - 5:47:19 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
Long-term archiving on: : Sunday, December 4, 2016 - 9:36:59 AM
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, November 9, 2011 - 5:47:19 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
Long-term archiving on: : Sunday, December 4, 2016 - 9:36:59 AM
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2011_iros_teuliere.pdf
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