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
Document type :
Conference papers
Complete list of metadatas

Cited literature [23 references]  Display  Hide  Download

https://hal.inria.fr/hal-00639702
Contributor : Eric Marchand <>
Submitted on : Wednesday, November 9, 2011 - 5:47:19 PM
Last modification on : Thursday, February 7, 2019 - 4:52:47 PM
Long-term archiving on : Sunday, December 4, 2016 - 9:36:59 AM

File

2011_iros_teuliere.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00639702, version 1

Citation

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. ⟨hal-00639702⟩

Share

Metrics

Record views

493

Files downloads

800