Autonomous target following with monocular camera on UAS using Recursive-RANSAC tracker

被引：0
|
作者：
Lee, Jae H. [1 ]
Millard, Jeff D. [1 ]
Lusk, Parker C. [1 ]
Beard, Randal W. [1 ]
机构：
[1] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA
来源：
2018 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2018年
基金：
美国国家科学基金会;
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a vision-based target tracking and following system using a monocular camera on an Un-manned Aerial System (UAS). The R-RANSAC tracker tracks multiple moving objects in the camera field of view and the proposed controller is capable of following a particular target selected by a user while keeping the target in the center of the image. The main contribution of this paper is that multiple objects can be tracked without imposing restrictions such as color, shape, etc. Also, the hardware test shows that the system is able to follow a target autonomously in a real-world outdoor environment. The proposed algorithm is validated on a 3DR X-8 multirotor platform using a downward facing camera.
引用
收藏
页码：1070 / 1074
页数：5
相关论文
共 48 条
  • [1] Multiple Target Tracking on SE(2) Using Recursive-RANSAC
    Petersen, Mark E.
    Beard, Randal W.
    2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2021, : 4460 - 4465
  • [2] Comparison and Analysis of Recursive-RANSAC for Multiple Target Tracking
    Niedfeldt, Peter C.
    Ingersoll, Kyle
    Beard, Randal W.
    IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2017, 53 (01) : 461 - 476
  • [3] Multiple Target Tracking and Stationary Object Detection in Video with Recursive-RANSAC and Tracker-Sensor Feedback
    Ingersoll, Kyle
    Niedfeldt, Peter C.
    Beard, Randal W.
    2015 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'15), 2015, : 1320 - 1329
  • [4] Robust Estimation with Faulty Measurements using Recursive-RANSAC
    Niedfeldt, Peter C.
    Beard, Randal W.
    2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2014, : 4160 - 4165
  • [5] Convergence and Complexity Analysis of Recursive-RANSAC: A New Multiple Target Tracking Algorithm
    Niedfeldt, Peter C.
    Beard, Randal W.
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2016, 61 (02) : 456 - 461
  • [6] Multiple Target Tracking using Recursive RANSAC
    Niedfeldt, Peter C.
    Beard, Randal W.
    2014 AMERICAN CONTROL CONFERENCE (ACC), 2014, : 3393 - 3398
  • [7] Obstacle Detection for Low Flying UAS Using Monocular Camera
    Zhang, F.
    Goubran, R.
    Straznicky, P.
    2012 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC), 2012, : 2133 - 2137
  • [8] Autonomous Rendezvous and Docking of an Unknown Tumbling Space Target with a Monocular Camera
    Song, Liang
    Li, Zhi
    Ma, Xingrui
    2014 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2014, : 1008 - 1013
  • [9] Autonomous Outdoor Building Navigation Using a Single Monocular Camera
    Seng, John S.
    McGann, Laura H.
    2022 3RD INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND CONTROL, AIRC, 2022, : 107 - 113
  • [10] Augmented Visual Localization Using a Monocular Camera for Autonomous Mobile Robots
    Salimzadeh, Ali
    Bhatt, Neel P.
    Hashemi, Ehsan
    2022 IEEE 18TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 2022, : 1124 - 1131
12345