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
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