Chasing a moving target from a flying UAV

C. Teuliere 1, 2 L. Eck 1 E. Marchand 2
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. 2011
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C. Teuliere, L. Eck, E. Marchand. Chasing a moving target from a flying UAV. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. 2011. 〈hal-00639702〉

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