Article (Scientific journals)
A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
MARTINEZ LUNA, Carol; Mondragon, Ivan; Campoy, Pascual et al.
2013In Journal of Intelligent and Robotic Systems, 72 (3-4), p. 517-539
Peer reviewed
 

Files


Full Text
JINT_13_Carol.pdf
Publisher postprint (2.29 MB)
Download

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
UAVs visual tracking; Hierarchical tracking; Pose estimation; Vision-based landing; Direct methods
Abstract :
[en] In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of this tracking strategy allows to achieve the tasks at real-time frame rates and to overcome problems posed by the challenging conditions of the tasks: e.g. constant vibrations, fast 3D changes, or limited capacity on-board. The vast majority of approaches make use of featurebased methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations in which part of the object to track is outside of the field of view of the camera. The performance of the proposed tracking strategy onboard UAVs is evaluated with images from realflight tests using manually-generated ground truthinformation, accurate position estimation using a Vicon system, and also with simulated data from a simulation environment. Results show that the hierarchical tracking strategy performs better than well-known feature-based algorithms and wellknown configurations of direct methods, and that its performance is robust enough for vision-in-theloop tasks, e.g. for vision-based landing tasks.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
MARTINEZ LUNA, Carol  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Mondragon, Ivan;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Campoy, Pascual;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
SANCHEZ LOPEZ, Jose Luis  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
OLIVARES MENDEZ, Miguel Angel ;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
External co-authors :
yes
Language :
English
Title :
A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
Publication date :
2013
Journal title :
Journal of Intelligent and Robotic Systems
ISSN :
0921-0296
Publisher :
Springer Netherlands
Volume :
72
Issue :
3-4
Pages :
517-539
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 06 November 2013

Statistics


Number of views
155 (16 by Unilu)
Number of downloads
189 (5 by Unilu)

Scopus citations®
 
20
Scopus citations®
without self-citations
13
OpenCitations
 
12
WoS citations
 
13

Bibliography


Similar publications



Contact ORBilu