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.
https://hal.inria.fr/hal-00639702
Contributeur : Eric Marchand
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Soumis le : mercredi 9 novembre 2011 - 17:47:19
Dernière modification le : jeudi 15 novembre 2018 - 11:57:06
Document(s) archivé(s) le : dimanche 4 décembre 2016 - 09:36:59
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〉
