Reference : A computer vision and control algorithm to follow a human target in a generic environ...
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Engineering, computing & technology : Computer science
Computational Sciences
A computer vision and control algorithm to follow a human target in a generic environment using a drone
Di Maio, Antonio mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Bevilacqua, Vitoantonio [Politechnic of Bari > DEI]
Lecture Notes in Computer Science, Intelligent Computing Theories and Application
Proceedings, Part I
12th International Conference on Intelligent Computing
from 02-08-2016 to 05-08-2016
De-Shuang Huang
[en] Drone ; Tracking ; Computer Vision
[en] This work proposes an innovative technique to solve the problem of tracking and following a generic human target by a drone in a natural, possibly dark scene. The algorithm does not rely on color information but mainly on shape information, using the HOG classifier, and on local brightness information, using the optical flow algorithm. We tried to keep the algorithm as light as possible, envisioning its future application on embedded or mobile devices. After several tests, performed modeling the system as a set of SISO feedback-controlled systems and calculating the Integral Squared Error as quality indicator, we noticed that the final performance, overall satisfactory, degrades as the background complexity and the presence of disturbance sources, such as sharp edges and moving objects that cross the target, increase .

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