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A Hierarchical Strategy for Real-Time Tracking On-Board UAVs
MARTINEZ LUNA, Carol; Campoy, Pascual; Mondragon, Ivan F. et al.
2012In ICUAS 2012 : 2012 International Conference on Unmanned Aircraft Systems
Peer reviewed
 

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Keywords :
Visual tracking; UAV; UAS; Visual Control
Abstract :
[en] In this paper, we present a real-time tracking strategy based on direct methods for tracking tasks on-board UAVs, that is able to overcome problems posed by the challenging conditions of the task: e.g. constant vibrations, fast 3D changes, and limited capacity on-board. The vast majority of approaches make use of feature-based 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 where part of the object to track is out the field of view of the camera. The performance of the proposed strategy is evaluated with images from real-flight tests using different evaluation mechanisms (e.g. accurate position estimation using a Vicon sytem). Results show that our tracking strategy performs better than well known feature-based algorithms and well known configurations of direct methods, and that the recovered data is robust enough for vision-in-the-loop tasks.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
MARTINEZ LUNA, Carol  ;  Universidad Politecnica de Madrid
Campoy, Pascual;  Universidad Politecnica de Madrid, Computer Vision Group
Mondragon, Ivan F.;  Universidad Politecnica de Madrid, Computer Vision Group
Sanchez Lopez, Jose Luis  ;  Universidad Politecnica de Madrid, Computer Vision Group
Olivares Mendez, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) ; Universidad Politecnica de Madrid, Computer Vision Group
External co-authors :
yes
Language :
English
Title :
A Hierarchical Strategy for Real-Time Tracking On-Board UAVs
Publication date :
June 2012
Event name :
ICUAS 2012 : 2012 International Conference on Unmanned Aircraft Systems
Event place :
Philadelphia, United States
Event date :
June 2012
Main work title :
ICUAS 2012 : 2012 International Conference on Unmanned Aircraft Systems
Publisher :
IEEE
Peer reviewed :
Peer reviewed
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