Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles

Pestana, Jesus; Sanchez Lopez, Jose Luis; Campoy, Pascual; Saripalli, Srikanth

doi:10.1109/SSRR.2013.6719359

Reference : Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/45814

Title :	Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles
Language :	English
Author, co-author :	Pestana, Jesus []
	Sanchez Lopez, Jose Luis [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
	Campoy, Pascual []
	Saripalli, Srikanth []
Publication date :	Oct-2013
Main document title :	2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Pages :	1-6
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Event date :	from 21-10-2013 to 26-10-2013
Abstract :	[en] We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.
Permalink :	http://hdl.handle.net/10993/45814
DOI :	10.1109/SSRR.2013.6719359

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