Teuliere11a
C. Teulière, L. Eck, E. Marchand. Chasing a moving target from a flying UAV. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, Pages 4929-4934, San Francisco, USA, September 2011.
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Abstract
This paper proposes a vision-based algorithm to autonomously track and chase a moving target with a small- size flying UAV. The challenging constraints associated with the UAV flight led us to consider a density-based representation of the object to track. The proposed approach to estimate the target's position, orientation and scale, is built on a robust color- based tracker using a multi-part representation. This object tracker can handle large displacements, occlusions and account for some image noise due to partial loss of wireless video link, thanks to the use of a particle filter. The information obtained from the visual tracker is then used to control the position and yaw angle of the UAV in order to chase the target. A hierarchical control scheme is designed to achieve the tracking task. Experiments on a quad-rotor UAV following a small moving car are provided to validate the proposed approach
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BibTex Reference
@InProceedings{Teuliere11a,
Author = {Teulière, C. and Eck, L. and Marchand, E.},
Title = {Chasing a moving target from a flying UAV},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11},
Pages = {4929--4934},
Address = {San Francisco, USA},
Month = {September},
Year = {2011}
}
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